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PATRIOT™

PATRIOT USER MANUAL

URM03PH170 Rev. J NOVEMBER 2013

PATRIOT USER MANUAL

REV. J i NOVEMBER 2013

Copyright © 2004-2013 by Alken, Inc., dba Polhemus Colchester, Vermont, U.S.A.

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means, mechanical, photocopying, recording or otherwise, without the prior written permission of Polhemus. No patent liability is assumed with respect to the use of the information contained herein. While every precaution has been taken in the preparation of this manual, Polhemus assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from use of the information contained herein.

3SPACE® is a registered trademark of Polhemus; PATRIOT™ and LIBERTY™ are trademarks of Polhemus.

Windows® is a registered trademark of Microsoft Corporation.

Medical Device Use

Polhemus is a Good Manufacturing Practices (GMP) Contract Manufacturer under U.S. FDA Regulations. We are not a manufacturer of Medical Devices. Polhemus systems are not certified for medical or bio-medical use. Any references to medical or bio-medical use are examples of what medical companies have done with the Products after they have obtained all necessary or appropriate medical certifications. The end user/OEM/VAR/Distributor must comply with all pertinent FDA/CE regulations pertaining to the development and sale of medical devices and all other regulatory requirements.

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FCC Statement – Class A PATRIOT This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC Rules. These limits are designated to provide reasonable protection against interference when the equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause interference to radio communications. Operation of this equipment in a residential area is likely to cause interference in which case the user will be required to correct the interference at the user’s own expense.

FCC Statement – Class B PATRIOT This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates uses and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures: Reorient or relocate the receiving antenna. Increase the separation between the equipment and receiver. Connect the equipment into an outlet on a circuit different from that to which the receiver is

connected. Consult the dealer or an experienced radio/TV technician for help.

EC – Declaration of Incorporation

This Product Complies with the following European Community Directives:

89/336/EEC as amended by 92/31/EEC 73/23/EEC Low Voltage as amended by 93/68/EEC

The following standards were used to verify compliance with the directives:

EMC: EN 61326-1:1997+A1:1998+A2:2001+A3:2003 EN 55011:2003-Group 1 Class A (for Class A PATRIOT) and Class B (for Class B PATRIOT) EN 61000-4-2:1995 (ESD 4kV CD, 8kV AD) EN 61000-4-3:1996 (3V/m 80% AM) EN 61000-4-4:1995 (0.5kV line-line, 1kV line-earth) EN 61000-4-5:1995 (Surge Immunity) EN 61000-4-6:1996 (3V 80% AM, power line) EN 61000-4-11:1994 (Voltage Dips and Interruptions) Australia/New Zealand: AS/NZS 2064.1

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Safety Notices

i. Warnings

This instrument contains no user serviceable parts. Do not attempt to service unit. Return to Polhemus for repair.

Do not perform any unauthorized modification to the instrument.

Do not operate the instrument in the presence of flammable gas or fumes. Operation of any electrical instrument in such an environment constitutes a definite safety hazard.

Do not use the instrument in a manner not specified by the manufacturer.

ii. To clean the instrument If the instrument requires cleaning:

1. Remove power from the instrument.

2. Clean the external surfaces of the instrument with a soft cloth dampened with a mixture of mild detergent and water.

3. Make sure that the instrument is completely dry before reconnecting it to a power source.

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TABLE OF CONTENTS SAFETY NOTICES ............................................................................................................................... III

I. WARNINGS ....................................................................................................................................................... III II. TO CLEAN THE INSTRUMENT ............................................................................................................................. III

1. GETTING STARTED ................................................................................................................. 1 1.1. SET UP THE PATRIOT ...................................................................................................................................... 2 1.2. INSTALL THE HOST SOFTWARE ........................................................................................................................... 8

1.2.1. USB Driver Installation .................................................................................................................................... 8 1.3. USE THE POLHEMUS PIMGR GUI ...................................................................................................................... 9 1.4. EXPERIMENT WITH PATRIOT DATA ................................................................................................................ 11 1.5. PATRIOT DIGITIZER ...................................................................................................................................... 12 1.6. PATRIOT DB ................................................................................................................................................ 13 1.7. TERMS/ACRONYMS .......................................................................................................................................... 14

2. PATRIOT SYSTEM COMMANDS ............................................................................................ 22 2.1. OVERVIEW ...................................................................................................................................................... 22 2.2. COMMAND SYNTAX.......................................................................................................................................... 23

2.2.1. Notation .......................................................................................................................................................... 23 2.2.2. Command Format Notes ................................................................................................................................. 23 2.2.3. Response Format Notes ................................................................................................................................... 24

2.3. PATRIOT USER COMMAND SET SUMMARY ...................................................................................................... 27 2.4. PATRIOT ERROR CODE SUMMARY ................................................................................................................. 28 2.5. COMMAND REFERENCE ................................................................................................................................... 29

2.5.1. Configuration Commands ............................................................................................................................... 29 2.5.2. Operational Commands .................................................................................................................................. 68

3. COMPONENT DESCRIPTION ................................................................................................. 84 3.1. SYSTEM ELECTRONICS UNIT (SEU).................................................................................................................. 84

3.1.1. Source Port ..................................................................................................................................................... 84 3.1.2. Source Frequency ........................................................................................................................................... 84 3.1.3. Sensor Ports .................................................................................................................................................... 84 3.1.4. LED Indicator ................................................................................................................................................. 84 3.1.5. RS-232 I/O ...................................................................................................................................................... 85 3.1.6. Serial Connector ............................................................................................................................................. 85 3.1.7. Hardware Switches ......................................................................................................................................... 85 3.1.8. Reset Button .................................................................................................................................................... 86

3.2. MAGNETIC SOURCE......................................................................................................................................... 87 3.3. SENSOR(S) ...................................................................................................................................................... 88 3.4. STYLUS ........................................................................................................................................................... 89 3.5. BUDDY BUTTON .............................................................................................................................................. 90

4. SYSTEM OPERATION ............................................................................................................ 91 4.1. I/O CONSIDERATIONS ...................................................................................................................................... 91 4.2. POWERING UP PATRIOT ............................................................................................................................... 91 4.3. CONFIGURATION CHANGES ............................................................................................................................. 91 4.4. OUTPUT UPDATE RATE ................................................................................................................................... 91 4.5. OUTPUT CONSIDERATIONS .............................................................................................................................. 92 4.6. USEFUL RANGE............................................................................................................................................... 92

APPENDIX A. ALIGNMENT REFERENCE FRAME ............................................................................. A-1 APPENDIX B. SYSTEM OUTPUT DATA RECORDS............................................................................ B-1

ASCII FORMAT ................................................................................................................................................. B-1 BINARY FORMAT .............................................................................................................................................. B-2

APPENDIX C. BUILT IN TEST (BIT) ................................................................................................. C-1 INITIALIZATION RESULTS ...................................................................................................................................... C-1 RUNTIME RESULTS ............................................................................................................................................... C-2

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APPENDIX D. LIMITED WARRANTY AND LIMITATION OF LIABILITY ................................................ D-1 APPENDIX E. SPECIFICATIONS ..................................................................................................... E-1 APPENDIX F. CUSTOMER SERVICE ............................................................................................... F-1

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TABLE OF FIGURES

Figure 1-1 PATRIOT System .................................................. 2 Figure 1-2 Source Connection ................................................. 3 Figure 1-3 Sensor Connection .................................................. 3 Figure 1-4 Sensor/Source Test Setup ....................................... 4 Figure 1-5 Power Connector .................................................... 4 Figure 1-6 USB Cable Connection .......................................... 5 Figure 1-7 RS-232 Cable Connection ...................................... 6 Figure 1-8 PiMgr Screen Display ............................................ 9 Figure 1-9 RS-232 Configuration Settings............................. 10 Figure 1-10 PATRIOT Data Record Display ......................... 10 Figure 1-11 Euler Angles ....................................................... 19 Figure 3-1 Reset Button ......................................................... 86 Figure 3-2 Source Diagram .................................................... 87 Figure 3-3 Sensor RX2 .......................................................... 88 Figure 3-4 Sensor RX1-C ...................................................... 88 Figure 3-5 8” Stylus ............................................................... 89 Figure 3-6 3” Stylus ............................................................... 89 Figure 3-7 Buddy Button and Buddy Button Adaptor ........... 90 Figure 4-1 Alignment Reference Frame............................... A-1

DUE TO SOFTWARE AND HARDWARE MODIFICATIONS SCREEN OR PRODUCT EXAMPLES APPEARING IN THIS MANUAL

MAY VARY SLIGHTLY FROM THE ACTUAL SCREENS OR PRODUCTS THE USER ACCESSES.

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LIST OF TABLES

Table 2-1 ASCII Response Format .......................... 25 Table 2-2 Binary Response Format ......................... 25 Table 2-3 ‘A’ ASCII Response ................................ 31 Table 2-4 ‘A’ Binary Response ............................... 31 Table 2-5 ‘B’ ASCII Response ................................ 34 Table 2-6 ‘B’ Binary Response ............................... 34 Table 2-7 ‘F’ ASCII Response ................................ 36 Table 2-8 ‘F’ Binary Response ................................ 36 Table 2-9 ‘G’ ASCII Response ................................ 37 Table 2-10 ‘G’ Binary Response ............................. 37 Table 2-11 ‘H’ ASCII Response .............................. 40 Table 2-12 ‘H’ Binary Response ............................. 40 Table 2-13 ‘L’ ASCII Response .............................. 43 Table 2-14 ‘L’ Binary Response .............................. 43 Table 2-15 ‘N’ ASCII Response .............................. 45 Table 2-16 ‘N’ Binary Response ............................. 45 Table 2-17 Output Data Types ................................ 46 Table 2-18 ‘O’ ASCII Response .............................. 47 Table 2-19 ‘O’ Binary Response ............................. 47 Table 2-20 ‘U’ ASCII Response .............................. 48 Table 2-21 ‘U’ Binary Response ............................. 48 Table 2-22 ‘X’ ASCII Response .............................. 51 Table 2-23 ‘X’ Binary Response ............................. 52 Table 2-24 ‘Y’ ASCII Response .............................. 54 Table 2-25 ‘Y’ Binary Response ............................. 55 Table 2-26 ‘Ê’ ASCII Response ............................ 57 Table 2-27 ‘Ê’ Binary Response ............................ 57 Table 2-28 ASCII Baud Rate Values ....................... 58 Table 2-29 ASCII Parity Values .............................. 58 Table 2-30 ‘Ô’ ASCII Response ............................ 59

Table 2-31 ‘Ô’ Binary Response ........................... 59 Table 2-32 Binary RS-232 Codes ............................ 59 Table 2-33 ‘Û[station]’ ASCII Response .............. 62 Table 2-34 ‘Û0’ ASCII Response .......................... 62 Table 2-35 ‘Û’ Binary Response ........................... 62 Table 2-36 ‘^X’ ASCII Response ............................ 64 Table 2-37 ‘^X’ Binary Response ........................... 65 Table 2-38 ‘@B’ ASCII Response .......................... 67 Table 2-39 ‘@B’ Binary Response .......................... 67 Table 2-40 ‘P’ ASCII Response .............................. 70 Table 2-41 ‘P’ Binary Response .............................. 70 Table 2-42 ‘^T’ ASCII Response ............................ 75 Table 2-43 ‘^T’ Binary Response ............................ 75 Table 2-44 ‘^V’ ASCII Response ............................ 76 Table 2-45 ‘^V’ Binary Response ........................... 77 Table 2-46 ‘^V[station] ASCII Response ................ 77 Table 2-47 ‘^V[station]’ Binary Response .............. 77 Table 2-48 ‘^Z’ ASCII Response Header ................ 80 Table 2-49 ‘^Z’ ASCII Response ............................ 81 Table 2-50 ‘^Z’ Binary Response ............................ 82 Table 3-1 LED conditions ....................................... 84 Table 3-2 RS-232 Pin Outs ...................................... 85 Table 3-3 Switch Settings ........................................ 86 Table 4-1 BIT Results DWORDs .......................... C-1 Table 4-2 Source BIT Results ................................ C-1 Table 4-3 Global Sensor BIT Results .................... C-2 Table 4-4 Sensor Channel BIT Results .................. C-2 Table 4-5 Runtime BIT Error Codes ..................... C-3

PATRIOT USER MANUAL

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1. Getting Started Congratulations on buying the latest, most cost-effective 3D tracking system yet! This section of the user manual has been provided to help get your project under way as quickly as possible.

As with any new system, there are two ways to get started with your PATRIOT system: you could “wing it,” which involves a great deal of assumptions based on previous experience and/or visual inspection, and hope for the best. Alternatively, you could sit down and read the whole manual, line-by-line, and then start. What we provide here is a middle ground to cover the basics to get you going quickly. However, this approach does not preclude using the manual as a precise guide, reference, and final arbiter.

NOTE: For the PATRIOT DB System, please refer to the separate PATRIOT DB Installation Guide for installing the drive bay in your personal computer. Once the PATRIOT DB is installed, be sure to keep the source and sensor(s) away from large metal objects like filing cabinets, metal desks, etc., and away from the floor and walls. Once you have installed the Source, use ‘^Y’ – Initialize System (see page 79), then continue with Use the Polhemus PiMgr GUI (see page 9). Any time a source is disconnected or reconnected into a PATRIOT DB, the system must be restarted using ‘^Y’ – Initialize System (page 79) or by pressing the Reset Button (see page 86). The PATRIOT DB will auto-detect anytime a sensor is connected to a sensor port.

PATRIOT USER MANUAL


1.1. Set Up the PATRIOT NOTE: This approach assumes the use of a single sensor, availability of a USB or COM Port on a computer with either Windows XP/Vista/Win 7, and that the Polhemus PiMgr GUI is installed on the computer. See Install the Host Software on page 8 for instructions.

Figure 1-1 PATRIOT System

1. Unpack the PATRIOT SEU, source, sensor(s), USB and RS-232 cables, PATRIOT Host Software CD, power supply and cables. See Figure 1-1.

2. Set up the PATRIOT system close to your host computer and away from large metal objects like file cabinets, metal desks, etc., and away from the floor and walls.

3. Identify the source (the two-inch gray cube) and insert the source connector into the source receptacle, being careful to firmly engage it. Using your fingers, tighten the two retaining screws to secure the connector. See Figure 1-2.

PATRIOT USER MANUAL


Figure 1-2 Source Connection

4. For getting started, use only one sensor. Identify the sensor and insert it into either of the sensor receptacles as shown below. Firmly engage and lock the sensor connector into place in the same manner as the source connector in step 3. See Figure 1-3.

Figure 1-3 Sensor Connection

5. For testing purposes, it is convenient to mount both the source and the sensor on a single block of wood (2x4 or equivalent) about 16 inches apart. Exact placement of the source and sensor is not important for this test; just make sure the cables of both devices are not routed tightly together and that they come off opposite ends of the wooden block. See Figure 1-4.

PATRIOT USER MANUAL


Figure 1-4 Sensor/Source Test Setup

6. Ensure the power switch is in the OFF position (logic “0”, DOWN). With the separate power supply UNPLUGGED from the wall, connect the power input cable to the PATRIOT. The power supply can now be plugged into a 110/220 VAC outlet. See Figure 1-5.

Figure 1-5 Power Connector

USB or RS-232 Communication

Only one I/O port (USB or RS-232) can be active at a time. For USB, continue with step 7. For RS-232, skip to step 11.

For USB Communication:

7. Identify the USB cable and insert it into the receptacle as shown in Figure 1-6. Connect the other end of the USB cable to the host computer.

PATRIOT USER MANUAL


Figure 1-6 USB Cable Connection

8. At this point, you may turn on the PATRIOT system using the power switch located on the back panel of the SEU. A system status indicator located on the front panel should flash red for 5 to 10 seconds indicating self-test and set-up. When these routines are completed, the indicator will reflect system status as follows:

Steady green System operational – passed startup testing.

Flashing red Failed self-test and set-up.

9. The host should respond with a “Found New Hardware” message. Follow the hardware wizard to install the required drivers from the PATRIOT Host Software CD-ROM. For step-by-step instructions, refer to USB Driver Installation on page 8.

NOTE: Once the USB cable is connected to PATRIOT, it cannot return to RS-232 mode without removing the USB connection and restarting (power OFF/ON).

10. You may now use the Polhemus PiMgr GUI to exercise the system. If you have not yet installed the Host Software, continue to Install the Host Software on page 8. Otherwise, continue to Use the Polhemus PiMgr GUI on page 9 and Experiment with PATRIOT Data on page 11.

For RS-232 Communication:

11. Locate the RS-232 cable and insert it into the receptacle as shown in Figure 1-7.

Most PC hosts have a 9 pin, male “D” type connector for COM1. If you are using COM1, plug the remaining end of the cable into the COM1 port of the host PC, engage, and lock as before.

If your host computer has a 25 pin “D” connector for the RS-232 port, you will need a 9 to 25 pin “D” connector adapter with the proper genders. Note that this adapter must not compromise the NULL MODEM sense of your cable.

PATRIOT USER MANUAL


Figure 1-7 RS-232 Cable Connection

12. You may now exercise the system. To use the Polhemus PiMgr GUI, return to step 10. With the RS-232 connection, you may also use PATRIOT’s ASCII interface through the Windows HyperTerminal program.

To do this, first set PATRIOT’s “CONFIG” hardware switches to all DOWN as shown in Figure 1-7. (RS-232 switch settings are described in detail in RS-232 I/O on page 85.)

Next, start the HyperTerminal program and create a serial connection using these switch settings. The steps are as follows:

Navigate to HyperTerminal from the Windows Start menu. StartAll ProgramsAccessoriesCommunicationsHyperTerminal.

In HyperTerminal, enter a session name, choose an icon, and click OK In the “Connect using” field, select the desired COM port (COM1) and click OK. In the “Bits per second” field, select 115200. In the “Data bits” field, select 8 (default). In the “Parity” field, select None (default). In the “Stop bits” field, select 1 (default). In the “Flow control” field, select None and click OK.

13. You should now have a serial connection opened to PATRIOT. Turn PATRIOT on. In 5 to 10 seconds, you will see “PATRIOT Ready!” in the HyperTerminal screen.

14. Collect a single data record from PATRIOT by typing the ‘P’ – Single Data Record Output command (see page 70) in the HyperTerminal screen. PATRIOT will respond with a single frame of position and orientation data. The data displayed in the

HyperTerminal screen consists of a station number and six columns of data as follows (these values represent an arbitrary placement of the sensor and source.):

1 2 3 4 5 6 7 01 16.082 -0.387 0.713 3.051 1.126 -0.674

PATRIOT USER MANUAL


15. Continue experimenting with the position and orientation data. See Experiment with PATRIOT Data on page 11. If the system fails to produce position and orientation data, carefully go over the above procedure in a systematic fashion, checking connections and switch settings especially. If you still need assistance, refer to Customer Service on page F-1.

PATRIOT USER MANUAL


1.2. Install the Host Software NOTE: PATRIOT Host Software is intended to be installed on a computer running Windows XP/Vista/Win7/Win8 only.

Insert the PATRIOT Host Software CD-ROM into your computer’s CD-ROM drive.

If the PATRIOT Host Software Installation Panel does not run automatically, then navigate to the CD-ROM drive using Windows Explorer. Run “Setup.exe”. The Host Software Installation Panel will appear. Click on “Install Host Software.” The installation wizard will walk you through the installation.

For simplicity, it is recommended that you use the default installation settings suggested by the installation wizard.

1.2.1. USB Driver Installation

If you used the default installation settings when installing the Host Software (above), the PATRIOT USB Driver Package was installed.

On a Windows 7 or Windows 8 host, when PATRIOT is connected via USB for the first time, the PATRIOT USB drivers will be loaded automatically.

On a Windows XP host, the first time PATRIOT is connected, the host will display a “Found New Hardware” message and then launch the “Found New Hardware Wizard” to locate and install the USB drivers for PATRIOT.

When the Found New Hardware Wizard displays, select the “Install software automatically” option and click “Next.”

The wizard will install the PATRIOT loader driver. When it has completed, click “Finish.”

The same process will be launched again automatically to install the Polhemus PATRIOT USB runtime driver. Repeat the same selections and the process will be complete.

PATRIOT USER MANUAL


1.3. Use the Polhemus PiMgr GUI If you selected the default settings when you installed the PATRIOT Host Software on your computer, you will find a shortcut to the PiMgr application on your Windows XP/Vista/Win 7/Win 8 desktop. It looks like this:

Otherwise, navigate to the program through the windows Start menu:

StartAll ProgramsPolhemusPiMgr

The initial PiMgr screen will look like this:

Figure 1-8 PiMgr Screen Display

1. With no PATRIOT system connected, notice that the icon appears in the lower right corner. Once connected, the icon will change to .

2. If the PATRIOT system is already powered up and connected to the computer, the PiMgr will discover the connection immediately upon startup. If not, you will need to manually create the connection once you have powered up PATRIOT. To do this, first you must select the type of connection you wish to create.

3. If you want to create a USB connection, skip to step 4. PiMgr defaults to a USB connection. If you want to create an RS-232 connection, first configure the serial port settings by opening the Device Configuration dialog. Open this dialog off the Device menu: DeviceDevice Configuration…, and select the Connection tab. Select the RS-232 Connection Type on the left, and the appropriate RS-232 Properties on the right. Then Click OK.

PATRIOT USER MANUAL


Figure 1-9 RS-232 Configuration Settings

4. To create a connection, click the Connect button on the PiMgr toolbar: . When the connection has been established, the connection icon at the lower right will change to

.

5. To collect a single frame of motion data from the PATRIOT system, click the Single button on the toolbar:

6. You can also do this by typing ‘p’ or ‘P’ anywhere on the PiMgr window. This will cause PiMgr to request a single data frame from the PATRIOT system. The contents of the frame will be displayed in the text window at the top of the PiMgr display. The airplane image(s) in the graphics portion of the screen will move to the retrieved position and orientation:

Figure 1-10 PATRIOT Data Record Display

The text portion of the screen will display the retrieved position and orientation:

Position in inches Euler Orientation in degrees Station Number X Y Z Azimuth Elevation Roll

1 0.389 34.603 0.000 -1.000 0.000 88.000

PATRIOT USER MANUAL


1.4. Experiment with PATRIOT Data 1. Take some initial samples of data using the ‘P’ – Single Data Record Output command

(see page 70). Because you have locked the sensor in one position relative to the source (Set Up the PATRIOT, step 5), the data output will not change regardless of the number of data samples you take.

2. Remove the sensor, move it approximately six inches toward the source, secure it in place, and take another single data frame. The value of the X position data will decrease by approximately six inches. The Y and Z values will remain roughly the same as the original data. If you left the attitude of the sensor approximately the same as it was when you started, then the attitude data also will be approximately the same.

3. Again, remove the sensor and without moving its position, try twisting it in azimuth (in the same plane as the wood support) approximately 45 degrees and lock it down with tape. Now collect another data frame. The first four columns will be approximately as they were in step 1, but the Azimuth data in column 5 will have changed by approximately 45 degrees.

4. Continue to experiment with the system as described in step 3 to demonstrate that it measures the position and orientation (six-degree-of-freedom) of the sensor with respect to the source.

5. For a more “hands-on” approach to communicating with PATRIOT, an RS-232 connection is available.

PATRIOT USER MANUAL


1.5. PATRIOT Digitizer The PATRIOT Digitizer is the most affordable digitizer on the market. The system includes everything needed to start digitizing objects from engineering prototypes to precious artwork. By utilizing proprietary magnetic tracking technology pioneered by Polhemus for advanced military applications, the digitizing stylus can be moved freely: around, under, and behind objects big and small.

Use the PATRIOT Digitizer Stylus and capture data points in hard to reach places easily; move around the object freely. The Stylus is tracked using Polhemus’ magnetic 6 Degree-Of-Freedom (6DOF) technology and requires no mechanical arm or optical markers. Digitize a kayak, furniture, a kitchen countertop: the PATRIOT Digitizer has a range of up to five (5) feet for a ten (10) foot diameter workspace.

PATRIOT USER MANUAL


1.6. PATRIOT DB The PATRIOT DB is a 3D digitizer and a dual sensor motion tracker, making it perfect for a wide array of applications requiring medium resolution, accuracy, and range. Computing the position and orientation of a small sensor as it moves through space, PATRIOT DB provides dynamic, real-time measurements of position (X, Y, and Z Cartesian coordinates) and orientation (azimuth, elevation, and roll).

Measuring position and orientation in real time, PATRIOT DB can update data continuously, discretely (point by point), or incrementally. Mount up to two sensors on heads or hand sto capture real-time data for virtual reality or simulator applications. With the optional stylus, trace the outline of a physical object or collect polygon facets and get pinpoint accurancy of unlimited X, Y, and Z points.

Quiet and stable, PATRIOT DB is essentially unaffected by facility power grids. Update rates are always maintained, as A/C magnetic offer the best signal-to-noise ratios and incorporate sophisticated digital signal processing capabilities. Adaptive filtering is available as a standard feature.

PATRIOT USER MANUAL


1.7. Terms/Acronyms

Alignment Obtaining congruence between the axes of the PATRIOT system and the axes of the application. The process whereby the PATRIOT system coordinate reference is brought into coincidence, either physically or mathematically, with other coordinates of the environment. Alignment in an active system is not the same as a boresight operation, which concerns only the sensor; in passive systems, alignment and boresight can be identical.

Alignment Frame The reference frame in which the position and orientation of the sensor is measured. The default alignment frame is the source frame.

API Application Programming Interface. Programming library used to develop custom host software for driving the instrument. Sometimes used interchangeably with “SDK.”

ASCII American national Standard Code for Information Interchange defines a certain 8-bit code for display and control characters.

Attitude Matrix A three-by-three matrix containing the direction cosines of the sensor’s X axis in column one, the direction cosines of the sensor’s Y axis in column two, and the direction cosines of the sensor’s Z axis in column three. The order of the Euler angle rotation sequence is azimuth, elevation, and roll.

X Direction Cosines Y Direction Cosines Z Direction Cosines

CA*CE SA*CE -SE

CA*SE*SR - SA*CR CA*CR + SA*SE*SR CE*SR

CA*SE*CR + SA*SR SA*SE*CR – CA*SR CE*CR

where: CA = Cos (azimuth) CE = Cos (elevation) CR = Cos (roll) SA = Sin (azimuth) SE = Sin (elevation) SR = Sin (roll)

Azimuth The coordinate of orientation tracking in the horizontal plane where an increase in the angle is clockwise when viewed from above. Azimuth is a

PATRIOT USER MANUAL


rotation around the “Z” or vertical axis. The term “yaw” is often substituted for azimuth, especially in the context of flight.

Baud Rate The signaling rate on a serial line. For example, to convey an 8-bit byte normally requires at least two additional bit times, a start bit and a stop bit so that synchronization is possible without a separate clocking line. For example, such an arrangement implies for a 9600 baud rate conveyance of data at a 9600*8/10 = 7680 bit rate.

Benign Environment A tracking environment free of the need for special calibration or compensation brought on by the unique features of a particular installation and its environment (e.g. high light levels for optical tracking, high sound levels for sonic tracking, high metallic distortion for magnetic tracking). If not otherwise noted, all measurements and statements pertaining to PATRIOT performance shall be regarded as occurring in such a benign environment.

Binary Mathematical system based on two digits: 0 and 1.

BIT Built-In Test features monitoring the status and health of the PATRIOT system, as well as flagging certain preset conditions monitored by the PATRIOT system software. Not to be confused with bit, a contraction of “binary digit.”

Boresight Any procedure that rotates the sensor frame so as to precisely align the sensor to the designated reference frame.

In a PATRIOT system context, the term usually refers to the system software routine that, on command, performs a coordinate rotation, which effectively aligns the sensor frame to a predefined boresight reference orientation.

The boresight routine accomplishes the boresight orientation of the sensor regardless of the sensor’s physical orientation at the instant of boresight initiation. For applications that require the orientation tracking of the body (or body member) to which the sensor is attached, a prerequisite to initiating the boresight function is a physical orientation of the body to be tracked to the boresight reference orientation.

bps Bits per second. Not to be confused with the signaling, or baud rate, which is always equal to or higher than the bit rate. (See baud rate.)

PATRIOT USER MANUAL


DB Denotes the “Drive Bay” version of PATRIOT SEU. The DB SEU fits into a standard 5.25” PC drive bay.

Digitizer A special sensor, shaped like a pen or stylus, used for recording the X, Y, Z coordinates of an object; easily captures data points in hard to reach places; requires no mechanical arm or optical markers.

Direction Cosines The cosines of the angles between the sensor’s x, y, z axes and the X, Y, Z axes of the measurement reference (alignment) frame.

Drive Bay A slot on a personal computer that accepts peripherals such as a hard drive, CD, DVD, or PATRIOT.

Elevation Coordinate of orientation tracking in the vertical plane where an increase in the angle is upward from the horizontal. A term often substituted for elevation, especially as it concerns flight, is “pitch.”

Factory Defaults The values assigned to certain system variables by the factory. Stored in non-volatile memory, they are used to reinitialize the variables if configuration information is lost.

Firmware Term used to describe the software programmed into PATRIOT non-volatile memory.

Format The interchange coding used to present data. PATRIOT outputs either ASCII or BINARY data, but accepts only ASCII inputs from the host.

Hemisphere Because of the inversion symmetry of the magnetic fields generated by the source, there are two possible mathematical solutions for the X, Y, Z position coordinates for each set of sensor data processed, and PATRIOT is unable to determine which solution is the correct one without additional information. This additional information is provided by the ‘H’ – Hemisphere of Operation command on page 39, which defines the hemisphere in which the sensors are operating. Therefore, only half of the total spatial sphere surrounding the source can be utilized at any one time for unambiguous position measurement.

The selected hemisphere is referred to as the “current hemisphere.” It is defined by an LOS (line-of-sight) vector from the source through a point at the zenith of the hemisphere, and is specified by the direction cosines of the chosen LOS vector.

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The orientation coordinates do not have a two-solution spherical ambiguity and are therefore valid throughout the operating sphere centered at the source.

Host Any device capable of supporting an RS-232C interface or the high speed USB interface and capable of bi-directional data transmission. Devices may range from a dumb terminal to a mainframe computer.

I/O latency The interval of time needed by the host computer to transfer data from the PATRIOT system into the host application.

Lag The interval of time between requesting a PATRIOT system data point and receiving it into the host computer.

Latency The interval of time between when measurement data were collected and when the P&O result is formatted ready for transfer to the host computer. In some systems, namely active PATRIOT systems, there is a time interval between when the data is collected and when the P&O computation can be done. Hence, this definition is intended to correspond to the center point of data collection time so that latency is straightforward and understandable as stated. Other tracking systems (e.g., inertial) may produce raw data continuously or nearly continuously. PATRIOT latency in this case reduces to the computation time for producing the answer ready for transfer to the host computer.

LIBERTY A generation of flexible and expandable motion tracking instruments after which the PATRIOT is modeled, using the same sources and sensors. The LIBERTY 240/8 allows up to 8 sensors, while the LIBERTY 240/16 allows up to 16 sensors.

Line of Sight (LOS) 1) The orientation angle of the source/sensor pair; 2) in active tracking systems, the angle between the source of stimulation and the sensor; 3) not obscured or blocked from view, such as a clear line of sight for optical uses.

LSB Least significant bit

LSD Least significant digit.

MSB Most significant bit.

PATRIOT USER MANUAL


Motion Box The volume in which motion tracking is specified to perform as prescribed. Although this 3D volume usually is cubicle in nature, many of the tracking technologies known as ‘active’ are dependent on a source of stimulation (e.g., magnetic field, light source) which actually performs equally well at a constant radius from the source so that the “box” actually might be better described as spherical or hemispherical.

Orientation Angles The azimuth, elevation, and roll angles that define the current orientation of the sensor coordinate frame with respect to the designated reference frame.

The Euler angle coordinates that are output by PATRIOT as one measure of sensor orientation are graphically defined in Figure 1-11. Here, the x, y, z and X, Y, Z tri-axis arrays represent independent, three-dimensional orthogonal coordinate frames. The x, y, z triad represents the sensor frame in its current orientation state. The X, Y, Z triad represents the reference frame against which the relative orientation of the sensor frame is measured. By definition, the X, Y, Z frame also represents the zero-orientation reference state of the sensor frame.

The Euler angles, azimuth, elevation and roll, are designated , , and . These angles represent an azimuth-primary sequence of frame rotations that define the current orientation of the sensor with respect to its zero-orientation state. The defining rotation sequence is an azimuth rotation followed by an elevation rotation followed by a roll rotation.

The azimuth angle is defined in the figure as a rotation of the X and Y reference axes about the Z reference axis. The transition axes labeled X’ and Y’ represent the orientation of the X and Y axes after the azimuth rotation.

The elevation angle is defined as a rotation of the Z reference axis and the X’ transition axis about the Y’ transition axis. The transition axis labeled Z’ represents the orientation of the Z reference axis after the elevation rotation. The current x-axis of the current sensor frame represents the orientation of the X’ transition axis after the elevation rotation.

Lastly, the roll angle is defined as a rotation of the Y’ and Z’ transition axes about the x-axis of the sensor frame. The y and z-axes of the current sensor frame represent the orientation of the Y’ and Z’ transition axes after the roll rotation.

PATRIOT USER MANUAL


In the example of Figure 1-11, the azimuth, elevation and roll rotations are positive, negative and positive respectively.

Legend X, Y, Z = Alignment (Reference) Frame x, y, z = Rotated Stylus or Sensor Coordinate Frame = Azimuth = Elevation = Roll

Figure 1-11 Euler Angles

Output List A list of the data items included in a data record.

PATRIOT A two-sensor low cost tracking instrument modeled after LIBERTY.

P&O Acronym for position and orientation, the six pieces of data needed to fully describe tracking of an object in 3D space. Some tracking devices, by virtue of their principle of operation, can produce only position or only orientation whereas others can produce both P&O (although the user usually can opt for only those parameters desired).

Pitch Same as elevation.

Quaternion A four-parameter quantity representing a vector and a scalar. The quaternion q = q0 + i q1 + j q2 + k q3 can be used to represent the sensor’s orientation without the need for trigonometric functions. The attitude matrix output from PATRIOT can be equivalently represented by the following matrix using quaternions:

X Directional Cosines Y Directional Cosines Z Directional Cosines

q + q - q - q )qq + qq2( )qq - qq2(

)qq - qq2( q - q + q - q )qq + qq2(

)qq + qq2( )qq - qq2( q - q - q + q

23

22

21

2023012031

103223

22

21

202103

2031302123

22

21

20

PATRIOT USER MANUAL


Reset Button System reset switch; does not cycle power.

Response The interval of time between a request to the PATRIOT system to collect a data point and when that data is available for input from the PATRIOT system.

Roll Coordinate of orientation tracking about the azimuth-elevation axis where an increase of the angle is clockwise as viewed from behind or in the same direction as the object is facing.

SDK Software Development Kit; software development toolset available for LIBERTY/PATRIOT-based trackers, consisting of programming libraries, help files, and sample code. SDK is sometimes referred to as “API,” although API refers specifically to the programming libraries used to interface with the instrument.

Sensor The sensor measures the low-frequency magnetic field generated by the source. The sensor is used to track both the position and orientation of the object to which it is attached, relative to the measurement reference frame.

Source The source generates the low-frequency magnetic field measured by the sensor. The source’s X, Y, and Z-axes are the default measurement reference frame.

Station The source-sensor pair. PATRIOT supports up to two sensors, yielding a possible two stations.

Stylus A pencil-shaped housing for the sensor with an integral switch and used by the operator to indicate and/or select points to be digitized.

Sync Shorthand for synchronization. For example, “sync signal.”

Units The unit of assumed distance. PATRIOT allows measurement in either inches or centimeters.

Update Rate The rate at which motion-tracking data can be made available from the PATRIOT system.

PATRIOT USER MANUAL


Useful Range The maximum distance at which the resolution and noise performance of the PATRIOT system can be realized.

User Defaults The values assigned to certain system variables by the user. Stored in non-volatile memory, the system receives these variable values at power-up.

XYZ or X, Y, Z The Cartesian coordinates of position tracking where normally +X is in the forward direction; +Y is in the right hand direction; and +Z is downward.

XYZAER The output string of data reporting the position, XYZ, and orientation, AER – azimuth, elevation and roll – of the tracking sensor.

Yaw Same as azimuth.

<> Used in text to indicate the “Enter” key.

^ Used in text to indicate the “Ctrl” key.

PATRIOT USER MANUAL


2. PATRIOT System Commands

2.1. Overview This section specifies the PATRIOT Command Interface. It defines the structure and function of PATRIOT commands and responses.

The interface is comprised of ASCII commands and binary or ASCII response frames. The ASCII commands are designed to work in a ‘dumb terminal’ mode, thus keeping the communications protocol simple and easy to use. These commands are the basis of the Polhemus APIs.

Additional information is provided in this document to give the reader some background in the terminology and general science behind the Polhemus tracking technology.

All commands are input on the RS-232 serial port or USB port.

PATRIOT USER MANUAL


2.2. Command Syntax 2.2.1. Notation

The following notation is used in this manual to describe the PATRIOT command syntax:

[ ] Items shown inside square brackets are optional. To include optional items, type only the information inside the brackets. Do not type the brackets.

<> Represents an ASCII carriage return or “enter” (‘^M’, 0x0d). Whenever shown this value must be present to terminate the command sequence.

... An ellipsis indicates that you can repeat an item.

, A comma represents a delimiter in a list of optional parameters. The comma must be present for those parameters which are omitted except for the case of trailing commas. For example:

Qs,p1,,,p4<> is the proper command format when omitting parameters p2 and p3.

Commas following the parameter p4 are not required if parameters p5 and p6 are omitted.

| A vertical bar means either/or. Choose one of the separated items and type it as part of the command. For example, “ON|OFF” indicates that you should enter either ON or OFF, but not both. Do not enter the vertical bar.

^ A caret in front of a command letter indicates that the control key should be held down while typing the command letter. Control commands produce ASCII values between 0x00 and 0x1F.

For discussion purposes, examples assume that only one sensor is used, in the Sensor 1 position.

2.2.2. Command Format Notes

Commands and alphabetic parameters are NOT case sensitive.

Commands that use optional parameters use current system retained values for parameters omitted from the command.

The term “station” refers to a source-sensor pair. For example, eight sensors paired with the one available source are assigned station numbers one through eight (1-8).

Unless otherwise noted, commands do not take any punctuation immediately following the command letter. However, if an optional first parameter is to be omitted, a comma is necessary between the command letter and the next parameter.

PATRIOT USER MANUAL


A numeric floating point value will be accepted by the machine if any of the following formats are used. For example, 3.0 may be specified as: 3, 3., 3.0 or 3.0E+00.

Station Wildcard When using a command that requires a station number as the parameter, the user may wish to apply the command to both stations of the PATRIOT system. In such situations a ‘*’ character may be used in place of the station number to apply the settings to both stations in the PATRIOT system.

e.g. H*,0,0,1<> would change the hemisphere for every station to the positive Z hemisphere.

e.g. H1,0,0,1<> would change the hemisphere for only station 1 to the positive Z hemisphere.

Default Parameters Commands that take multiple parameters can be used to change a subset of the parameters and leave the remaining parameter values unchanged.

For example:

The command Gaz,el,roll<> changes the source mounting frame to (az, el, roll).

The command G0,180,0<> changes the source mounting frame to (0,180,0). By omitting the el parameter from the command: G0,,180<> the source mounting frame would then change to (0,180,180). The el setting remains unchanged.

Similarly, the az parameter can be defaulted by: Gel,roll<> and the roll parameter can be defaulted by Gaz,el<>. The trailing comma is not required when the last parameter(s) are omitted.

2.2.3. Response Format Notes

Depending on the ‘F’ – Output Format configuration setting (see page 35), frames received from PATRIOT in response to the commands detailed in this document will conform to one of the following format definitions.

ASCII ASCII response frames are described in this document using the following notation:

A ............... Is an ASCII Character B .............. Is a Blank or Space S .............. Is the Sign byte (+,- or a space for (+)) x ............... Is a decimal digit (0-9) <> .............Carriage Return + Line Feed (i.e. ^M^J, 0x0d 0x0a) n() ............ Repeat contents of parentheses n times

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Example: A format 3(Sx.xxxxB), would be output as: -1.1111 2.2222 -3.3333

Except where noted, ASCII mode response includes a standard 5-character response header. The default ASCII response frame format is as follows:

Table 2-1 ASCII Response Format Byte Index Format Description

HEA

DER

0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A Command Letter 3 A Error Indicator 4 B ASCII Blank character

5 thru n A Response Body

n+1, n+2 <> A P&O response frame may not contain a

Carriage Return/Line Feed as specified by the user with the ‘O’ command

If the Station Number is not applicable to the command, the first two fields will be ASCII zeros ‘0’.

Error codes presented in the Error Indicator field are detailed in PATRIOT Error Code Summary on page 28. “No Error” is represented by an ASCII blank character ‘ ‘.

Binary Binary response frames are described in this document using the following notation:

US ............unsigned short, 16 bits SH ............signed short, 16 bits UC ............unsigned char, 8 bits CH ............char, 8 bits I ................signed integer, 32 bits DW ...........unsigned double word, 32 bits FL .............32-bit single-precision floating-point in IEEE format consisting of sign

bit, 8-bit exponent, and 23-bit mantissa: SXXX XXXX XMMM MMMM MMMM MMMM MMMM MMMM

[n] .............Array of size n of type preceding square brackets (e.g. FL[3])

Binary response frames are composed of an 8 byte frame header followed by a variable-length frame body as follows:

Table 2-2 Binary Response Format Byte Index TYPE Description

HEA

DER

0,1 US Frame Tag, always ‘PA’ or 0x5041 for PATRIOT HST 2 UC Station Number 3 UC Initiating command 4 UC Error Indicator 5 UC Reserved 6,7 SH Response size; number of bytes in the response body

8 - n Binary Response body

PATRIOT USER MANUAL


Error codes presented in the Error Indicator field are detailed in PATRIOT Error Code Summary on page 28. “No Error” is represented by NULL (0x00).

Error Responses When in binary mode, error responses are always prepended by the binary frame header, followed by the ASCII error string. In ASCII mode, error responses have no header. See PATRIOT Error Code Summary on page 28 for a complete listing of error responses.

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2.3. PATRIOT User Command Set Summary

Command Description Decimal Hexadecimal Notes Page

A Alignment Reference Frame 65 0x41 30

B Boresight 66 0x42 33

C Continuous Print Output 67 0x43 69

F Output Format 70 0x46 0=asc, 1=bin 35

G Source Mounting Frame 71 0x47 37

H Hemisphere of Operation 72 0x48 39

L Stylus Button Function 76 0x4C 42

N Tip Offsets 78 0x4E 44

O Output Data List 79 0x4F 46

P Single Data Record Output 80 0x50 70

Q FrameCount/Timestamp Reset 81 0x51 0=both;1=FC,2=TS 72

U Set Units 85 0x55 0=in, 1=cm 48

X Position Filter Parameters 88 0x58 50

Y Attitude Filter Parameters 89 0x59 53

^B UN-Boresight 2 0x02 56

Ê Set Echo Mode 5 0x05 0=off, 1=on 57

^K Save Operational Configuration 11 0x0B 73

Ô RS-232 Port Configuration 15 0x0F 58

^R Reset Alignment Frame 18 0x12 60

^T Built-in-Test Information 20 0x14 74

Û Active Station State 21 0x15 61

^V WhoAmI (Software versions) 22 0x16 76

^W Set Operational Configuration 23 0x17 78

^X Operational Configuration ID 24 0x18 64

^Y Initialize System 25 0x19 79

^Z Read Operational Configuration 26 0x1A 80

@B USB Buffering Mode 64 66 0x40 0x41 0=off, 1=on 66

PATRIOT USER MANUAL


2.4. PATRIOT Error Code Summary

The following error codes may appear as binary values in binary mode frame headers. In ASCII mode, only the text/meaning appears.

Error Hexadecimal ASCII Text/Meaning 0 0x00 No Error 1 0x01 Invalid Command 2 0x02 Invalid Station 3 0x03 Invalid Parameter 4 0x04 Too Few Parameters 5 0x05 Too Many Parameters 6 0x06 Parameter Below Limit 7 0x07 Parameter Above Limit 8 0x08 Communication Failure with Sensor Processor Board 9 0x09 Error Initiating Sensor Processor 1

10 0x0a Error Initiating Sensor Processor 2 11 0x0b Error Initiating Sensor Processor 3 12 0x0c Error Initiating Sensor Processor 4 13 0x0d No Sensor Processors Detected 14 0x0e Error Initiating Source Processor 15 0x0f Memory Allocation Error 16 0x10 Excessive Command Characters Entered 17 0x11 You must exit UTH mode to send this command 18 0x12 Error reading source prom. Using Defaults 19 0x13 This is a read only command 20 0x14 Non-fatal text message 21 0x15 Error loading map (N/A for PATRIOT)

The remaining error codes may appear in ASCII and binary frame headers:

Error Hexadecimal ASCII Text/Meaning ‘ ‘ 0x20 No Error (ASCII mode only) ‘a’ 0x61 Source Fail X ‘b’ 0x62 Source Fail Y ‘c’ 0x63 Source Fail XY ‘d’ 0x64 Source Fail Z ‘e’ 0x65 Source Fail XZ ‘f’ 0x66 Source Fail YZ ‘g’ 0x67 Source Fail XYZ ‘u’ 0x75 Position outside of mapped area (N/A for PATRIOT) ‘A’ 0x41 Source Fail X + BIT Errors ‘B’ 0x42 Source Fail Y + BIT Errors ‘C’ 0x43 Source Fail X + BIT Errors ‘D’ 0x44 Source Fail Z + BIT Errors ‘E’ 0x45 Source Fail XZ + BIT Errors ‘F’ 0x46 Source Fail YZ + BIT Errors ‘G’ 0x47 Source Fail XYZ + BIT Errors ‘I’ 0x49 BIT Errors

PATRIOT USER MANUAL


2.5. Command Reference 2.5.1. Configuration Commands

Configuration Commands are typically issued during system setup. They affect the overall operation of the PATRIOT system. Once a configuration has been established, PATRIOT will operate in that configuration until power is removed, a reset is issued, or the configuration is changed again through a command. The current configuration may be saved and used at initialization time by commands discussed in this section.

Unless otherwise indicated, the default behavior of the configuration commands will be as follows:

When no arguments (except station number, where applicable) are supplied with the command, PATRIOT will respond with the current value of the setting in the response frame body.

When arguments are supplied, the command modifies the setting, and PATRIOT sends no response to the command. (If ‘^E’ – Set Echo Mode is enabled (see page 57), PATRIOT echoes back the command as verification that the command was received and executed.)

Station-specific commands have an option to apply the setting to all stations. Refer to Station Wildcard on page 24.

PATRIOT USER MANUAL


‘A’ – Alignment Reference Frame

Description:

The alignment command does two things. It defines a reference frame to which all position and orientation output data is referred. In addition, it creates a new origin point where the X, Y, Z measurements would equal (0,0,0) if the sensor were placed there. An example of where this command would be useful is a sloped test surface that the user wanted referenced to the surface. This would obtain congruence between the PATRIOT source and the source frame axes of the sloped surface.

Syntax:

Astation[ ,[Ox],[Oy],[Oz],[Xx],[Xy],[Xz],[Yx],[Yy],[Yz] ]<>

The Alignment Reference Frame Syntax has these parts:

Part Description

station 1 or 2, which specifies the relevant source/sensor pair

Ox,Oy,Oz the Cartesian coordinates of the origin of the new reference frame

Xx,Xy,Xz the coordinates of the point defining the positive direction of the X-axis of the new reference frame

Yx,Yy,Yz the coordinates of a third point that is in the positive Y direction from the X-axis

Remarks:

The source reference frame is the default alignment reference frame. (0,0,0,1,0,0,0,1,0) in inches.

NOTE: Each time this command is applied to a station, the effect is cumulative. That is, each successive applied alignment coordinates are relative to the current frame of reference. If this is not the desired behavior, reset the alignment reference frame between successive ‘A’ commands. Refer to the ‘^R’ – Reset Alignment Frame command on page 60 to do this.

PATRIOT USER MANUAL


Output Record:

Table 2-3 ‘A’ ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A ‘A’ 3 A Error Indicator 4 B ASCII Blank character 5-25 3(Sxxx.xx) Origin Coordinates 26-27 AA Carriage Return/Line Feed 28-48 3(Sxxx.xx) Positive X-Axis Coordinates 49-50 AA Carriage Return/Line Feed 51-71 3(Sxxx.xx) Positive Y-Axis Coordinates 72-73 AA Carriage Return/Line Feed

Table 2-4 ‘A’ Binary Response Byte Index Format Description 0-7 Binary Header 8 FL Ox 12 FL Oy 16 FL Oz 20 FL Xx 24 FL Xy 28 FL Xz 32 FL Yx 36 FL Yy 40 FL Yz

Examples:

To perform an alignment on station 1, follow the steps listed below:

Standard Alignment Procedure

1. Send ^R1<>

2. Place the sensor at the proposed origin location

3. Press P and write down the X, Y, Z measurements (these will be Ox, Oy, Oz)

4. Move the sensor along the proposed X axis from the origin defined in step 2 and place it about 24 inches in front of this origin

PATRIOT USER MANUAL


5. Press P and write down the X, Y, Z measurements (these will be Xx, Xy, Xz)

6. Move the sensor along the proposed Y-axis from the origin defined in step 2 and place it about 24 inches from the source

7. Press P and write down the X, Y, Z measurements (These will be Yx, Yy, Yz)

8. Using all of the data that has been written down in steps 1-7, send the command A1,Ox,Oy,Oz,Xx,Xy,Xz,Yx,Yy,Yz<>

PATRIOT USER MANUAL


‘B’ – Boresight

Description:

This command causes the sensor to be electronically aligned in orientation and optionally, position, with the user system coordinates and establishes the boresight reference angles for the station. Azimuth, elevation and roll outputs will equal the boresight reference values at the current orientation. If the “Reset Origin” switch is set, X, Y and Z outputs will equal 0,0,0 at the boresight location. PATRIOT then produces outputs relative to this (these) reference(s). Any sensor orientation can be designated as the zero orientation point.

If all the optional parameters are omitted, the system returns the boresight reference angles for the specified station.

A station may be unboresighted by issuing a ^B command. See the section describing the ‘^B’ – Un-Boresight Command on page 56.

Syntax:

Bstation[ ,Azref,Elref,Rlref,ResetOrigin ]<>

Part Description


Azref The azimuth reference angle

Elref The elevation reference angle

Rlref The roll reference angle

ResetOrigin A switch to enable/disable setting the X, Y and Z origin values to 0,0,0 upon boresight. 0 = disable the origin reset. 1 = reset origin upon boresight. Default is 0.

Remarks:

The system default boresight reference values are: 0, 0, 0

PATRIOT USER MANUAL


Output Record:

Table 2-5 ‘B’ ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A ‘B’ 3 A Error Indicator 4 B ASCII Blank character 5-12 Sxxx.xxB Azimuth Reference 13-20 Sxxx.xxB Elevation Reference 21-28 Sxxx.xxB Roll Reference 29-30 AA Carriage Return/Line Feed

Table 2-6 ‘B’ Binary Response Byte Index Format Description 0-7 Binary Header 8 FL Azimuth Reference 12 FL Elevation Reference 16 FL Roll Reference

Examples:

The sensor may be mounted on a person’s head to measure where it is pointing. When the user’s head is looking at a given object, the user may want the system angular outputs to be zero. The user can designate this sensor orientation as the zero orientation by sending the boresight command:

B1,0,0,0,0<> This results in azimuth, elevation, and roll outputs of zero at this orientation. As

the user’s head moves away from the boresight point, the orientation angles are still measured relative to the source, with the zero points shifted to the point where the boresight occurred.

The user may wish to set the boresight reference values to an orientation that corresponds with the application. For example, if the application required an output of 0, -15, 0 following a boresight, reference angles should be included with the B command:

B1,0,-15,0,0<> The boresight command will now cause the azimuth, elevation, and roll data

output to be 0, -15, 0 respectively.

PATRIOT USER MANUAL


‘F’ – Output Format

Description:

This command selects the Binary or ASCII output data format. ASCII format means that the data is generally human readable, while binary format is generally computer readable. Regardless of output data format selected, all input data (commands) to PATRIOT must be in ASCII format.

Syntax:

F[fmt] <>

Part Description

fmt Defines the type of output from PATRIOT. The choices are:

0 …. ASCII output 1 …. Binary output

Remarks:

The default output data format is ASCII.

The Polhemus SDK uses binary output exclusively.

As with other configuration commands, if no fmt argument is provided, the current value of the setting is returned in the default response frame.

If a software application is written to receive binary data from PATRIOT and there is a requirement to take it off line temporarily to do visual checks, the user would enable the ASCII output data format in order to be able to easily read PATRIOT data on the PC monitor.

The user may wish to write a software application for PATRIOT where a fast update rate is crucial. In order to reduce data throughput size, PATRIOT could be set to output in binary instead of ASCII.

PATRIOT USER MANUAL


Output Record:

Table 2-7 ‘F’ ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A ‘F’ 3 A Error Indicator 4 B ASCII Blank character 5 A ‘0’ 6-7 AA Carriage Return/Line Feed

Table 2-8 ‘F’ Binary Response Byte Index Format Description 0-7 Binary Header 8 I 0x00000001

Examples:

The command to enable binary output mode for the system is: F1<>

PATRIOT USER MANUAL


‘G’ – Source Mounting Frame

Description:

This command allows the user to modify the mounting frame coordinates of the source. It is basically a non-physical rotation of the source and becomes the new orientation reference for each sensor’s measurements. Source mounting frame is not a sensor-specific setting.

Syntax:

G[ [A],[E],[R] ]<>

Part Description

A Azimuth mounting frame angle

E Elevation mounting frame angle

R Roll mounting frame angle

Remarks:

The default mounting frame is 0,0,0.

Issuing a G<> will read the current source mounting frame.

Output Record:

Table 2-9 ‘G’ ASCII Response Byte Index Format Description 0 A First Digit of Station Number (n/a) ‘0’ 1 A Second Digit of Station Number (n/a) ‘0’ 2 A ‘G’ 3 A Error Indicator 4 B ASCII Blank character 5-13 Sxxx.xxxB Azimuth Mounting Frame Angle 14-22 Sxxx.xxxB Elevation Mounting Frame Angle 23-31 Sxxx.xxxB Roll Mounting Frame Angle 32-33 AA Carriage Return/Line Feed

Table 2-10 ‘G’ Binary Response Byte Index Format Description 0-7 Binary Header 8 FL Azimuth Mounting Frame Angle 12 FL Elevation Mounting Frame Angle 16 FL Roll Mounting Frame Angle

PATRIOT USER MANUAL


Examples:

If there was a requirement to mount the source upside down (more mechanically feasible), then the following command should be used:

G0,0,180<> The orientation measurements for all stations will now look as if the source had

not been mounted upside down.

PATRIOT USER MANUAL


‘H’ – Hemisphere of Operation

Description:

This command allows the user to set or change the “hemisphere of operation” vector.

Since the sensor(s) can only operate in one hemisphere at a time relative to the source, it is necessary to tell PATRIOT which side of the source they will be on, for each station.

PATRIOT also provides hemisphere tracking, a feature whereby PATRIOT can continuously modify its operating hemisphere, given that it is started in a known, valid hemisphere.

Because of the symmetry of the magnetic fields generated by the source, there are two mathematical solutions to each set of sensor data processed. Therefore, only half of the total spatial sphere surrounding the source is practically used at any one time without experiencing an ambiguity (usually sign flips) in the X, Y, Z measurements. This half sphere is referred to as the current hemisphere. The chosen hemisphere is defined by an LOS vector from the source through a point at the zenith of the hemisphere, and is specified by the LOS direction cosines.

Syntax:

Hstation[ ,[p1],[p2],[p3] ]<>

Part Description


p1 The initial x-component of a vector pointing in the direction of the operational hemisphere’s zenith.

p2 The initial y-component of a vector pointing in the direction of the operational hemisphere’s zenith.

p3 The initial z-component of a vector pointing in the direction of the operational hemisphere’s zenith.

Remarks:

The arguments p1-p3 above are the vector components of the operational hemisphere’s zenith. The default hemisphere values are: 1,0,0 which is positive X or “forward” hemisphere.

PATRIOT USER MANUAL


Hemisphere Tracking is enabled by sending Hstation,0,0,0<>. It is not enabled by default. When enabled, PATRIOT modifies the operating hemisphere automatically.

When turning on Hemisphere Tracking, the sensor of the specified station must be initially located in the currently set hemisphere.

NOTE: If Hemisphere Tracking is turned ON when the ‘^X’ – Operational Configuration ID (see page 64) is sent, PATRIOT will save the default hemisphere.

Issuing an Hstation<> returns a record of structure as shown below.

Output Record:

Table 2-11 ‘H’ ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A ‘H’ 3 A Error Indicator 4 B ASCII Blank character 5-11 Sxx.xxx Current Vector X component 12-18 Sxx.xxx Current Vector Y component 19-25 Sxx.xxx Current Vector Z component 26-27 AA Carriage Return/Line Feed

Table 2-12 ‘H’ Binary Response Byte Index Format Description 0-7 Binary Header 8 FL Vector X component 12 FL Vector Y component 16 FL Vector Z component

Examples:

The user may decide to mount the source above the test area in order to be able to move the sensor to the positive and negative sides of X and the positive and negative sides of Y. (NOTE: since the default hemisphere value is “forward”, the user cannot move the sensor to the negative X side of the source, because the signs will flip and it will appear as if the X measurement never goes negative.) If the source is positioned above the test area, the positive Z or “lower” hemisphere should be selected. This can be accomplished with the following command:

H1,0,0,1<> Station 1 of PATRIOT will now be set for the positive Z or “lower” hemisphere.

PATRIOT USER MANUAL


Although the hemisphere vector is not limited to 1s and 0s, the following table of hemisphere commands may be useful:

Forward Hemisphere (+X) H1,1,0,0<> Back Hemisphere (-X) H1,-1,0,0<> Right Hemisphere (+Y) H1,0,1,0<> Left Hemisphere (-Y) H1,0,-1,0<> Lower Hemisphere (+Z) H1,0,0,1<> Upper Hemisphere (-Z) H1,0,0,-1<>

PATRIOT USER MANUAL


‘L’ – Stylus Button Function

Description:

This command allows the user to put the PATRIOT stylus into different output modes by controlling the button function.

Syntax:

Lstation[,fbutton]<>

Part Description


fbutton Defines the function of the Stylus Button. The choices are:

0 …. Marker Mode 1 …. Point/Track Mode

Remarks:

System default is Marker Mode.

An entry of fbutton = 0 defines the output interaction as “marker mode.” The pushing of the stylus switch has no effect on system output other than setting an event marker in the output record when the button is pressed. In this case, a 1 is reported in the output record when the switch is pressed and a 0 when it is not pressed. NOTE: Output of this marker must be enabled through the ‘O’ – Output Data List command (see page 46).

An entry of fbutton = 1 defines a pseudo “point/track” mode interaction with the switch. In non-continuous mode of output, pressing the stylus switch has the same effect as sending a ‘P’ – Single Data Record Output command (see page 70) to the system (point mode). In point mode, every time the button is pressed, a data record is sent to the host. [NOTE: The host must be aware of this mode. If the stylus button is pressed, the host must be polling for the data frame or monitoring RS232 output in order to capture the output data.]

In continuous output mode, pressing the stylus switch serves as a toggle for continuous output (track mode). The first time the button is pressed, continuous output mode is turned off. The next time the button is pressed, continuous output mode is turned back on again, and so on.

PATRIOT USER MANUAL


Output Record:

Table 2-13 ‘L’ ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A ‘L’ 3 A Error Indicator 4 B ASCII Blank character 5 A 0 for Marker, 1 for Point/Track 6-7 AA Carriage Return/Line Feed

Table 2-14 ‘L’ Binary Response Byte Index Format Description 0-7 Binary Header 8 I 0x00 for Marker, 0x01 for Point/Track

Examples:

The command to enable Stylus Track mode on station 2 is: L2,1<>

PATRIOT USER MANUAL


‘N’ – Tip Offsets

Description:

This command allows the user to override the factory defaults for the stylus tip offsets. Although changing the tip offsets is not recommended, the ability to do so is available.

Each stylus has been factory calibrated with custom tip offsets. This is the offset of the sensor from the tip of the stylus. The tip offsets allow the tip to act as the measurement reference instead of the sensor coil inside the handle.

Tip Offset settings are not saved in the PATRIOT configuration. They must be re-applied each time PATRIOT is restarted.

Syntax:

Nstation[ ,[Xoff],[Yoff],[Zoff] ]<>

Part Description


Xoff X direction Tip offset.

Yoff Y direction Tip offset

Zoff Z direction Tip offset

Remarks:

Factory default tip offsets are read from the PROM inside the stylus connector on power-up. As a result, the ‘N’ command can only override the factory defaults during the current operational session.

PATRIOT USER MANUAL


Output Record:

Table 2-15 ‘N’ ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A ‘N’ 3 A Error Indicator 4 B ASCII Blank character 5-11 Sx.xxxB X offset 12-18 Sx.xxxB Y offset 19-25 Sx.xxxB Z offset 26-27 AA Carriage Return/Line Feed Table 2-16 ‘N’ Binary Response Byte Index Format Description 0-7 Binary Header 8 FL X offset 12 FL Y offset 16 FL Z offset

Examples:

If the user created a special stylus tip attachment that extended exactly one inch from the end of the stylus, an adjustment to the tip offsets would have to be made. To do so, the following steps should be taken.

1. Verify that PATRIOT is measuring units in “inches” by sending the ‘U’ – Set Units command (see page 48).

Read the factory tip offsets from the PROM in the connector by sending the command N1<>. (A typical factory tip offset might be 2.523, 0.004, 0.03.)

2. To add one inch in X to the factory calibration, type N1,3.523,0.004,0.03<>

To verify that the tip offset was entered correctly, type N1<> to read it back.

PATRIOT USER MANUAL


‘O’ – Output Data List

Description:

This command allows the user to define the list of variables to be output to the host computer for the specified station. Any combination of up to 20 items that produces a P&O response frame of less than or equal to 1000 bytes is permissible.

NOTE: Due to the high output rate of PATRIOT, caution should be used when defining large output records to prevent overwhelming the host communications’ channel.

The output list refers to the subset of data items to be included in a data record.

Syntax:

O[station] ,[p1],[p2],...,[pn]<>

Part Description


p1-pn Up to 20 parameters that define the list of variables output to the host. The possible parameters are listed below:

Table 2-17 Output Data Types Parameter Value Description ASCII Output Data

Format Binary Output Data Format

0 ASCII space character A1 A1 1 ASCII carriage return, linefeed A2 A2 2 X, Y, Z Cartesian coordinates of position 3(Sxxx.xxxB) FL 3 X, Y, Z Cartesian coords, extended precision 3(Sx.xxxxxxESxxxB) FL 4 Az, El, Rl Euler orientation angles 3(Sxxx.xxxB) FL 5 Az, El, Rl Euler angles, extended precision 3(Sx.xxxxxxESxxxB) FL 6 Direction Cosine Matrix 3(3(Sx.xxxxxB)CRLF) FL[3] 7 Orientation Quaternion 4(Sx.xxxxxB) FL[3] 8 Timestamp A1 ~ A10 DWORD 9 Frame Count A1 ~ A10 DWORD

10 Stylus Flag (‘0’ or ‘1’) A1 I

Remarks:

If the wildcard (*) is specified instead of a station, all station output lists will be set to the programmed value. If output list parameters (p1-pn) are omitted from the argument list, the current defined output list is returned.

Default is 0*,2,4,1: P&O <cr><lf> for all stations.

PATRIOT USER MANUAL


Output Record:

Table 2-18 ‘O’ ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A ‘O’ 3 A Error Indicator 4 B ASCII Blank character 5 X Data Item #1 6 B 7- . xB.. Remaining data items separated by blanks Table 2-19 ‘O’ Binary Response Byte Index Format Description 0-7 Binary Header 8 I Data Item 1 12 I Data Item 2 16 I Data Item 3 . . . 84 I Data Item #20

NOTE: In the binary output format, the list of valid data items will be terminated with a -1 (0xFFFFFFFF).

Examples:

The user may decide to use X, Y, Z direction cosines instead of the default output format. In order to do so, the following command should be sent: O1,5,6,7,1<> The output data for Station 1 will now be displayed as X, Y, Z direction cosines, plus carriage return/line feed.

O*,2<> The output for all stations will be position only.

PATRIOT USER MANUAL


‘U’ – Set Units

Description:

This command sets the distance unit to either metric (centimeters) or English (inches). Subsequent input and output lengths will be interpreted as centimeters or inches respectively.

Syntax:

U[units] <>

Part Description

units Defines the type of input and output Units. The choices are:

0 …. English (Inches) 1 …. Metric (Centimeters)

Remarks:

The system default unit format is inches.

As with all other configuration commands, if the units parameter is not stated in this command, the current units setting will be returned in the default response body.

Output Record:

Table 2-20 ‘U’ ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A ‘U’ 3 A Error Indicator 4 B ASCII Blank character 5 A 0 for inches, 1 centimeters 6-7 AA Carriage Return/Line Feed

Table 2-21 ‘U’ Binary Response Byte Index Format Description 0-7 Binary Header 8 I 0x00 for inches, 0x01 for centimeters

PATRIOT USER MANUAL


Examples:

Assuming the system units had already been changed to centimeters the following command could be sent to change back to inches:

U0<> The system will now output data in inches and interpret input data in inches.

If the operator wanted the system to output its measurements in centimeters, the following command should be sent:

U1<> The system will now output data in centimeters.

PATRIOT USER MANUAL


‘X’ – Position Filter Parameters

Description:

This command establishes the sensitivity, boundary, and transition control parameters for the adaptive filter that operates on the position outputs of the PATRIOT system. The user can adjust the parameters of this command to fine-tune the overall dynamic response of PATRIOT.

The filter is a single-pole low-pass type with an adaptive pole location (i.e., a floating filter “parameter/variable”). The pole location is constrained within the boundary values FLow and FHigh but is continuously self-adaptive between these limits as a function of the sensitivity parameter F and the sensed (ambient noise plus rotational rate) input conditions. For input “rate” conditions that fall within the adaptive range, the adaptive feature varies the pole location between the FLow and FHigh limits so as to maximize the output resolution for static inputs while minimizing the output lag for dynamic inputs. Whenever the input conditions cause the filter to make a transition to a narrower bandwidth (i.e., increased filtering), the transition rate of the pole location is constrained to a maximum allowable rate by the parameter FACTOR. If all of the optional parameters are omitted the current value of each parameter is returned to the user as an output record of type “X”.

Syntax:

X[ [F],[FLow],[FHigh],[Factor] ]<>

Part Description

F a scalar value that establishes the sensitivity of the filter to dynamic input conditions by specifying the proportion of new input data to recent average data that is to be used in updating the floating filter parameter/variable.

Allowable range of values: 0 < F < 1

FLow a scalar value that specifies the maximum allowable filtering to be applied to the outputs during periods of relatively static input conditions. Setting this value to 1.0 disables the filter completely.

Allowable range of values: 0 < FLow < FHigh or 1.0 to disable filter

PATRIOT USER MANUAL


FHigh a scalar value that specifies the minimum allowable filtering to be applied to the outputs during periods of highly dynamic input conditions.

Allowable range of values: FLow < FHigh < 1

FACTOR a scalar value that specifies the maximum allowable transition rate from minimum filtering (for highly dynamic input conditions) to maximum filtering (for relatively static input conditions) by proportionately limiting the decay to the low filter limit whenever the input conditions effect a transition to a narrower bandwidth.

Allowable range of values: 0 < FACTOR < 1

When the form of the command is X,0,1,0,0<> the position filter is disabled.

Remarks:

The default mode for all filter parameters is shown below. Although these parameters are a function of the user’s particular environment, the following settings may be used as a starting point for determining optimum filtering in your particular environment.

F Set to 0.2

FLow Set to 0.2

FHigh Set to 0.8

FACTOR Set to 0.95

Output Record:

Table 2-22 ‘X’ ASCII Response Byte Index Format Description 0 A First Digit of Station Number (n/a) 1 A Second Digit of Station Number (n/a) 2 A ‘X’ 3 A Error Indicator 4 B ASCII Blank character 5-11 Sx.xxxB Filter Sensitivity 12-18 Sx.xxxB Filter Low Value 19-25 Sx.xxxB Filter High Value 26-32 Sx.xxxB Transition Rate Maximum Value 33-34 AA Carriage Return/Line Feed

PATRIOT USER MANUAL


Table 2-23 ‘X’ Binary Response Byte Index Format Description 0-7 Binary Header 8 FL Filter Sensitivity 12 FL Filter High Value 16 FL Filter Low Value 20 FL Transition Rate Maximum Value

Examples:

To select the above filtering, send the following command to the system: X .2,.2,.8,.95<>

All active stations will now have filtering applied to the position measurements.

To turn off position filters: X0,1,0,0<>

PATRIOT USER MANUAL


‘Y’ – Attitude Filter Parameters

Description:

This command establishes the sensitivity, boundary, and transition control parameters for the adaptive filter that operates on the attitude outputs of the PATRIOT system. The user can adjust the parameters of this command to fine-tune the overall dynamic response of PATRIOT.

The filter is a single-pole low-pass type with an adaptive pole location (i.e., a floating filter “parameter/variable”). The pole location is constrained within the boundary values FLow and FHigh but is continuously self-adaptive between these limits as a function of the sensitivity parameter F and the sensed (ambient noise plus rotational rate) input conditions. For input “rate” conditions that fall within the adaptive range, the adaptive feature varies the pole location between the FLow and FHigh limits so as to maximize the output resolution for static inputs while minimizing the output lag for dynamic inputs. Whenever the input conditions cause the filter to make a transition to a narrower bandwidth (i.e., increased filtering), the transition rate of the pole location is constrained to a maximum allowable rate by the parameter FACTOR. If all of the optional parameters are omitted, the current value of each parameter is returned to the user as an output record of type “Y”.

Syntax:

Y[ [F],[FLow],[FHigh],[Factor] ]<>

Part Description

F a scalar value that establishes the sensitivity of the filter to dynamic input conditions by specifying the proportion of new input data to recent average data that is to be used in updating the floating filter parameter/variable.

Allowable range of values: 0 < F < 1

FLow a scalar value that specifies the maximum allowable filtering to be applied to the outputs during periods of relatively static input conditions. Setting this value to 1.0 disables the filter completely.

Allowable range of values: 0 < FLow < FHigh or 1.0 to disable filter

PATRIOT USER MANUAL


FHigh a scalar value that specifies the minimum allowable filtering to be applied to the outputs during periods of highly dynamic input conditions.

Allowable range of values: FLow < FHigh < 1

FACTOR a scalar value that specifies the maximum allowable transition rate from minimum filtering (for highly dynamic input conditions) to maximum filtering (for relatively static input conditions) by proportionately limiting the decay to the low filter limit whenever the input conditions effect a transition to a narrower bandwidth.

Allowable range of values: 0 < FACTOR < 1

When the form of the command is Y0,1,0,0<> the attitude filter is disabled. This is the system default configuration.

Remarks:

The default mode for all filter parameters is shown below. Although these parameters are a function of the user’s particular environment, the following settings may be used as a starting point for determining optimum filtering in your particular environment.

F Set to 0.2

FLow Set to 0.2

FHigh Set to 0.8

FACTOR Set to 0.95

Output Record:

Table 2-24 ‘Y’ ASCII Response Byte Index Format Description 0 A First Digit of Station Number (n/a) 1 A Second Digit of Station Number (n/a) 2 A ‘Y’ 3 A Error Indicator 4 B ASCII Blank character 5-11 Sx.xxxB Filter Sensitivity 12-18 Sx.xxxB Filter Low Value 19-25 Sx.xxxB Filter High Value 26-32 Sx.xxxB Transition Rate Maximum Value 33-34 AA Carriage Return/Line Feed

PATRIOT USER MANUAL


Table 2-25 ‘Y’ Binary Response Byte Index Format Description 0-7 Binary Header 8 FL Filter Sensitivity Value 12 FL Filter Low Value 16 FL Filter High Value 20 FL Transition Rate Maximum Value

Examples:

To select the above filtering, send the following command to the system: Y.2,.2,.8,.95<>

All active stations will now have filtering applied to the attitude measurements.

To turn off attitude filters: Y0,1,0,0<>

PATRIOT USER MANUAL


‘^B’ – Un-Boresight

Description:

This command causes the sensor boresight rotation matrix to be reset to the identity matrix for the specified station. If the origin of the station was previously reset using the ‘B’ – Boresight command (see page 33), the origin will revert back to the source origin.

Syntax:

^Bstation<>

Part Description


Remarks:

None.

Output Record:

None.

Examples:

^B1<> Resets Station 1

PATRIOT USER MANUAL


‘Ê’ – Set Echo Mode

Description:

This command enables and disables the communications “echo” mode. In echo mode, Patriot responds to configuration-modifying commands by “echoing” back the command that was received. (Recall that without echo mode, configuration-modifying commands generate no response message from the tracker. See Configuration Commands on page 29.) This allows feedback to the user when modifying configuration settings. In binary mode, the echo is prefixed by the standard 8-byte binary header.

Syntax:

Ê[echo]<>

Part Description

echo Defines the echo mode. The choices are:

0 …. No echo mode 1 …. Echo mode

Output Record: Table 2-26 ‘Ê’ ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A ‘e’ 3 A Error Indicator 4 B ASCII Blank character 5 A 1 = on, 0 = off 6-7 AA Carriage Return/Line Feed

Table 2-27 ‘Ê’ Binary Response Byte Index Format Description 0-7 Binary Header 8 I 1 = on, 0 = off

Remarks:

The system default for echo mode is “off.”

Examples:

Ê1<> Ê0<>

PATRIOT USER MANUAL


‘^O’ – RS-232 Port Configuration

Description:

This command sets the RS-232 port configuration. The system output port settings include RS-232 BAUD rate and parity only.

Syntax:

^O [rate],[parity]<>

Part Description

rate 100 bits per second. Valid arguments include:

Table 2-28 ASCII Baud Rate Values Rate Baud Rate “24” 2,400 “48” 4,800 “96” 9,600 “192” 19,200 “384” 38,400 “576” 57,600 “1152” 115,200

parity Table 2-29 ASCII Parity Values

Parity Meaning “0” None “1” Odd “2” Even

Remarks:

See RS-232 I/O on page 85 for reference on the use of RS-232 for communicating with PATRIOT.

By default, the baud rate and parity RS-232 parameters are determined by the state of the RS-232 CONFIG switches (located on the back panel of PATRIOT) upon PATRIOT startup or initialization. See Hardware Switches on page 85 for switch values.

In addition: The number of data bits is always eight (8). The number of stop bits is always one (1). Hardware Handshake is always disabled.

PATRIOT USER MANUAL


Changes to the RS-232 port settings using Ô will be ignored during the next power up or system initialize (‘^Y’ – Initialize System, page 79) in deference to the hardware switch settings, even if the new port settings are saved as the startup configuration (‘^W’ – Set Default Operational Configuration on page 78).

Output Record:

Table 2-30 ‘Ô’ ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A ‘o’ 3 A Error Indicator 4 B ASCII Blank character 5-10 A Baud Rate (See Table 2-28 above.) 11 B Blank 12 A Parity (See Table 2-29 above.) 13-14 A Carriage Return/Line Feed

Table 2-31 ‘Ô’ Binary Response Byte Index Format Description 0-7 Binary Header 8 I Baud Rate (See Table 2-32 below.) 12 I Parity (See Table 2-32 below.)

Examples:

Suppose there is a requirement to change the baud rate (in software) to 19,200 baud after startup. It can be accomplished with the following command, without turning off and restarting the system. Ô192,1,8,0<>

The system serial communication parameters will now be 19200-baud, no parity, 8 data bits, and 1 stop bit. The host communication software may have to be reset to the new baud rate (19,200) in order for communication with PATRIOT to continue.

Table 2-32 Binary RS-232 Codes Code Baud Rate Code Parity

1 2400 0 None 2 4800 1 Odd 3 9600 2 Even 4 19200 5 38400 6 57600 7 115200

PATRIOT USER MANUAL


‘^R’ – Reset Alignment Frame

Description:

This command resets the alignment reference frame for the specified station to the source reference frame. It provides an easy way to re-align the reference frame to the factory default values. The command parameter is defined as:

Syntax:

^Rstation<>

Part Description


Remarks:

None.

Output Record:

None.

Examples:

To reset the alignment reference frame for station 2 to the default source reference frame, execute the following: ^R2<>

PATRIOT USER MANUAL


‘Û’ – Active Station State

Description:

The purpose of this command is to allow the host to turn a station “on” or “off” in software.

A station is defined as a source/sensor port pair. The two sensors paired with the one source are assigned station numbers one and two (1,2). Although stations are enabled simply by plugging the sensors into the ports on PATRIOT, the stations can then be disabled (or enabled again) by using a software command. When a station exists and is enabled, data records for that sensor will be transmitted from that station. If the station is disabled, no data records from that station will be transmitted.

Syntax:

Û[station][,state ]<> or Û0[,bitmap]<>

Part Description

station 1 or 2, which specifies the relevant source/sensor pair 0: causes active station bitmap to be retrieved or set.

state 0 … Off 1 … On n/a if station = 0

bitmap 8-bit bitmap reflecting state of each sensor, represented as a hexadecimal number

Remarks:

If a station is supplied without a state, then the current states of all stations are returned. See output record below. The default condition depends on the number of sensors that are currently connected to PATRIOT. The default condition of a station that has a sensor connected to it is a “1” or station “on”. The default condition of a station that does not have a sensor connected to it is a “0” or station “off.”

If zero ‘0’ is supplied as the station number, this command will take a hexadecimal bitmap to identify ALL the enabled stations:

E.g.: Û0,03<> enables all sensors.

PATRIOT USER MANUAL


NOTE: Do not place ‘0x’ in front of the input hex bitmap!

If no bitmap is supplied, the current active sensor bitmap will be returned in the default response body. This bitmap will indicate the detected sensors in the upper 16 bits, and the active sensors in the lower 16 bits. A sensor must be detected AND enabled to be active.

Output Record:

Table 2-33 ‘Û[station]’ ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A ‘u’ 3 A Error Indicator 4 B ASCII Blank character 5 X Station #1 state (1=Active, 0=Inactive) 6 X Station #2 state (1=Active, 0=Inactive) 7,8 AA Carriage Return/Line Feed

Table 2-34 ‘Û0’ ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A ‘u’ 3 A Error Indicator 4 B ASCII Blank character 5-8 xxxx Hex bitmap for detected sensors 9-12 xxxx Hex bitmap for active sensors 13,14 AA Carriage Return/Line Feed

Table 2-35 ‘Û’ Binary Response Byte Index Format Description 0-7 Binary Header 8 I Detected and Active Station bitmap

Binary output is the same for both Û[station]<> and Û0<>

PATRIOT USER MANUAL


Examples:

A user could connect two sensors to a PATRIOT and then collect a data point from one sensor at a time, after disabling the other one. To do so, the following commands would be sent:

1. Send the command Û2,0<> to turn station 2 off.

2. Press P to collect a data point from station 1.

3. Send the command Û2,1<> to turn station 2 on.

4. Send the command Û1,0<> to turn station 1 off.

5. Press P to collect a data point from station 2.

6. Repeat steps 1 through 6 as necessary.

To turn on station 1 while turning off station 2, send: Û0,1<>

where 1 corresponds to: 0x01 = 0001

Bits corresponding to station 1 are set and those corresponding to 2 are cleared.

PATRIOT USER MANUAL


‘^X’ – Operational Configuration ID

Description:

This command allows a 16 character “ID” to be assigned to the current operational system configuration. This command also allows the user to view the IDs of all valid stored configurations within PATRIOT non-volatile configuration memory.

Syntax:

^Xstring<>

Part Description

string A 15 character ASCII string ID that describes the current configuration.

Remarks:

A valid configuration ID is up to 15 characters plus a null-terminator.

If no string argument is supplied with this command, PATRIOT will respond with a list of the currently saved configuration IDs.

A string of 15 asterisks followed by the null character indicates an undefined configuration. (“***************\0”)

Output Record:

Table 2-36 ‘^X’ ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A ‘x’ 3 A Error Indicator 4 B ASCII Blank character 5-21 16(A)B Current Configuration Record ID 21-37 16(A)B Configuration Record ID #1 38-53 16(A)B Configuration Record ID #2 54-69 16(A)B Configuration Record ID #3 72-71 AA Carriage Return/Line Feed

PATRIOT USER MANUAL


Table 2-37 ‘^X’ Binary Response Byte Index Format Description 0-7 Binary Header 8 CH[16] Current Config ID 24 CH[16] Default Config ID 40 CH[16] Config Slot 1 10 56 CH[16] Config Slot 2 10 72 CH[16] Config Slot 3 10 88 CH[16] Startup Config ID

Examples:

To determine what configurations are available in the PATRIOT system issue the following command: ^X<> The returned record could display the following:

Current: Configuration 1 0 Default 1 Configuration 1 2 Configuration 2 3 *************** Startup Configuration 1

In this case two unique configurations are stored in PATRIOT configuration memory. The third configuration is not defined.

To set an ID for the third configuration, do the following: ^XConfiguration#3<> ^K3<> To make this configuration the startup configuration: ^W3<>

PATRIOT USER MANUAL


‘@B’ – USB Buffering Mode

Description:

This command enables or disables USB output buffering before USB transmission to the host. When USB buffering is disabled, the PATRIOT system operates in a ‘real time’ mode in which only the most current frame of motion data is transmitted. When enabled, buffering mode allows host delays in requests for data without frame loss, but with possible latency introduced.

Syntax:

@B[mode] <>

Part Description

mode Defines the status of USB Buffering mode. The choices are:

0 … Disabled

1 … Enabled (default)

Remarks:

By default, USB buffering mode is enabled.

As with other configuration commands, if no mode argument is provided, the current value of the setting is returned in the default response frame.

Buffering Mode applies to USB data I/O only. RS-232 data buffering is controlled by the host computer.

With USB buffering enabled, a First-In-First-Out (FIFO) buffer collects motion data in scenarios where the host computer is not able to capture it at the rate that it is generated. This does not guarantee that data is not lost, but it helps in transient conditions where the host computer does not have continuously available CPU and memory resources to capture every frame over USB. PATRIOT can buffer up to 2,046 bytes of data.

A consequence of enabling USB buffering mode is that the FIFO operation may result in data latency. When the buffer is full, P&O frames delivered to the host computer are not real-time. As such, they may not reflect the P&O of the stations at that instant in time. The P&O reported may be several frames behind real time, depending on the frame rate, frame size, and buffer size.

With USB Buffering Mode disabled, the FIFO buffer does not fill up with motion data. Each time the host computer requests a new frame, the frame delivered is guaranteed to be as close to real-time as possible, thus avoiding data latency.

PATRIOT USER MANUAL


Output Record:

Table 2-38 ‘@B’ ASCII Response Byte Index Format Description 0 A ‘0’ 1 A ’0’ 2 A ‘@’ 3 A Error Indicator 4 B ASCII Blank character 5 A ‘0’ Disabled, ‘1’ Enabled 6-7 AA Carriage Return/Line Feed

Table 2-39 ‘@B’ Binary Response Byte Index Format Description 0-7 Binary Header 8 I 0x00 Disabled, 0x01 Enabled.

Examples:

The command to disable USB buffering mode is:

@B0<>

PATRIOT USER MANUAL


2.5.2. Operational Commands

Operational commands are typically executed during normal system operation. They do not affect the current configuration of the PATRIOT system.

PATRIOT USER MANUAL


‘C’ – Continuous Print Output

Description:

This command enables the continuous output mode. When the system is in continuous mode, the data points from all stations are requested automatically and are streamed to the host continuously. If more than one station is enabled, then the data from each station will be sent in numerical order (station 1 first, station 2 second).

Output mode refers to whether the system automatically transmits data records to the host (continuous mode), or the host must request data records by polling the system each time (non-continuous mode).

Syntax:

C<>

Remarks:

By default continuous mode is disabled.

If the system is being used in an application where a fast update rate is critical, then the continuous print output configuration should be enabled.

Issuing a ‘P’ command disables continuous print output mode.

Frames will be received from the PATRIOT at 60 frames/sec.

Output Record:

The format of each frame of continuous output data is identical to that of a single frame generated by the ‘P’ command. See Table 2-40 on page 70 and Table 2-41 on page 70.

Examples:

To enable continuous output mode, send the command as follows: C<>

Data from PATRIOT will now flow continuously to the host computer.

To disable, send a ‘P’. Continuous data will stop and the response to the terminating ‘P’ will be returned.

PATRIOT USER MANUAL


‘P’ – Single Data Record Output

Description:

In non-continuous output mode, this command polls PATRIOT for a single data record. If more than one station is enabled, then data from each active station will be sent in numerical order (station 1 first, station 2 second; that is, a complete cycle of active stations will be output).

Output mode refers to whether the system automatically transmits data records to the host (continuous output mode), or the host must request data records by polling the system each time (non-continuous output mode).

Syntax:

P NOTE: This is the only PATRIOT command that does NOT require a <>.

Remarks:

The system default enables single data record output mode.

Output Record:

The body of each individual frame of output data is comprised of output data types configured by the ‘O’ command.

Table 2-40 ‘P’ ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A Error Indicator 3 B Blank 4-m See Table 2-17, page 46. Data Output Item #1 configured by ‘O’ command

(See ‘O’ – Output Data List on page 46 m+1 - n See Table 2-17, page 46. Data Output Item #2 .. See Table 2-17, page 46. Data Output Item #n

Table 2-41 ‘P’ Binary Response Byte Index Format Description 0-7 Binary Header 8-n See Table 2-17, page 46. Data Output Item #1, configured by ‘O’ command.

(See ‘O’ – Output Data List on page 46. n+1 - m See Table 2-17, page 46. Data Output Item #2 .. See Table 2-17, page 46. Data Output Item #n

PATRIOT USER MANUAL


Examples:

If the system is being used in an application where data is only needed a certain number of times, or on command, then the single data record output should be used. To poll the system for a single data record, send the command as follows:

P One data record from PATRIOT will be sent to the host computer.

PATRIOT USER MANUAL


‘Q’ – Reset Counters

Description:

This command allows the user to zero the frame counting and the frame timestamp feature. The frame counting feature is always enabled; however, it is only output when specified through the ‘O’ – Output Data List command (see page 46). The framecount is a positive integer value indicating the relative frame number since system start or the last reset. Rollover occurs after 232 frames.

The timestamp feature is always enabled; however, the timestamp is only output if it has been specified in the ‘O’ – Output Data List command. The timestamp is a positive integer value indicating the number of milliseconds since the last reset operation or system start. Rollover occurs after 232 milliseconds.

Syntax:

Qcounter<>

Part Description

counter 0 Reset both framecount and timestamp 1 Reset framecount only 2 Reset timestamp only

Remarks:

None.

Output Record:

None.

Examples:

To zero the framecount execute the following: Q1<>

PATRIOT USER MANUAL


‘^K’ – Save Operational Configuration

Description:

This command allows the user to save an operational configuration to one of three configuration records stored in PATRIOT non-volatile configuration memory. The configuration saved is the configuration currently defined.

Syntax:

^Kslotnum<>

Part Description

slotnum 1 - 3 = One of three user-definable operational configurations that are stored within PATRIOT.

Remarks:

Configuration slot number 0 is reserved for the factory default configuration.

A 15 character null-terminated ID string should be assigned to the user defined configuration before a ^K is issued. See the ‘^X’ – Operational Configuration ID command (page 64).

Output Record:

None.

Examples:

Assume a user wants to save the current custom operational configuration for use later. The user also wants to make this configuration the default ‘power up’ configuration for the user’s PATRIOT system. The following commands should be issued:

^XNewIDstring<> Assigns an ID string to current configuration

^K1 Saves current configuration to first config slot

^W1 Sets Config Slot 1 to startup config

PATRIOT USER MANUAL


‘^T’ – Read/Clear BIT Errors

Description:

This command allows the user or technician to read and clear any start-up Built-In Test (BIT) errors that occur during system initialization. This command will return 9 integer values that can be decoded as described in APPENDIX C. .

Syntax:

^T[clear]<>

Part Description

clear 0 clears all start-up BIT errors.

Remarks:

If no clear command is supplied, this command will display the current start-up errors.

This is a diagnostic command that allows the user or technician to determine the cause of any start-up test failures and to clear those errors. If a start-up test fails, PATRIOT will display a message to the host, and an error code of ‘I’ (or ‘A’ – ‘G’ if run-time errors also exist) will be placed in any P&O frame output header. Once a user clears the errors, the P&O frame output header error will disappear. The user can determine at a glance which sensor channel failed initialization by looking at words 2-9. Any word that does not contain all zeros indicates a failure for that sensor channel. If further information is needed, Appendix C can be used to further decode these BIT results.

This command will not clear run-time BIT errors.

Example:

Word = 0x00000000

PATRIOT USER MANUAL


Output Record:

NOTE: ^T0 has no output record.

Table 2-42 ‘^T’ ASCII Response Byte Index Format Description 0 A ‘0’ 1 A ‘0’ 2 A ‘t’ 3 B Blank 4 B Blank 5-14 AAxxxxxxxx Bitmap of source and global sensor

processor errors, sensors 1-8 15,16 AA Carriage Return / Line Feed 17-27 AAxxxxxxxxB Bitmap of sensor channel 1 errors 28-38 AAxxxxxxxxB Bitmap of sensor channel 2 errors 60,61 AA Carriage Return / Line Feed

Table 2-43 ‘^T’ Binary Response Byte Index Format Description 0-7 Binary Header 8 DW Bitmap of source and global sensor processor

errors 12 DW Bitmap of sensor channel 1 errors 16 DW Bitmap of sensor channel 2 errors

Examples:

^T<> Read BIT Errors – Yields the results below when no error

00t 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000

^T0<> Clear BIT errors

PATRIOT USER MANUAL


‘^V’ – WhoAmI

Description:

This command returns the basic identification and firmware version of PATRIOT system.

Syntax:

^V[station]<>

Remarks:

None.

Output Record:

Table 2-44 ‘^V’ ASCII Response Byte Index Format Description 0 A First Digit of Station Number (n/a) 0 1 A Second Digit of Station Number (n/a) 0 2 A ‘v’ 3 A Error Indicator 4 B ASCII Blank character 5-6 A Carriage Return/Line Feed 7-22 A “Polhemus PATRIOT” 23-24 A Carriage Return/Line Feed 25-26 A Carriage Return/Line Feed 27-45 A “Boot Loader Version:” 46-52 A Boot Version # 53-54 A Carriage Return/Line Feed 55-79 A “PATRIOT Firmware Version:” 80-86 A System Controller Version # 87-88 A Carriage Return/Line Feed 89-110 A “I/O Processor Version:” 111-117 A I/O Processor Version # 118-119 A Carriage Return/Line Feed

PATRIOT USER MANUAL


Table 2-45 ‘^V’ Binary Response Byte Index Format Description 0-7 Binary Header 8 UC Sensor count 9 UC Tracker Type 1=PATRIOT 10 UC Reserved 11-end CH[] Same as ASCII output bytes 5-end Table 2-46 ‘^V[station] ASCII Response Byte Index Format Description 0 A First Digit of Station Number (‘0’) 1 A Second Digit of Station Number 2 A ‘v’ 3 A Error Indicator 4 B ASCII Blank character 5-17 A “Station # ID:” 18-n A ID n+1 – n+2 A Carriage Return/Line Feed n+24 A “Station # Serial Number:” n+24 – m A Serial Number m+1 – m+2 A Carriage Return/Line Feed Table 2-47 ‘^V[station]’ Binary Response Byte Index Format Description 0-7 Binary Header 8 I ID 12 CH[16] Serial Number

Examples:

To determine the firmware version of the System Controller module in PATRIOT issue the following command: ^V<> The record returned will contain the version number of the PATRIOT Firmware, I/O Processor, and Boot Loader.

PATRIOT USER MANUAL


‘^W’ – Set Default Operational Configuration

Description:

This command sets the system non-volatile operational configuration to one of four values. This new ‘default’ configuration will be used upon subsequent system initializations. This command does not change the current configuration of the device until the device is restarted.

Syntax:

^Wslotnum<>

Part Description

slotnum 0 = Default Factory configuration 1-3 = User-defined configurations

Remarks:

When using the ‘^W’ command, the ‘^Y’ – Initialize System command (page 79) or system power cycle must be used to make PATRIOT use the operational configuration.

Output Record: None

Examples:

If the PATRIOT system’s configuration had been altered (by sending various other commands and saving the result to the configuration non-volatile memory) and the user wanted to return the system to its original factory default settings, then the following commands should be sent:

^W0

^Y

After initialization, the system non-volatile configuration memory will be set with all of the factory default parameters. This exercise is especially useful when the system has been modified to the point where the user is not sure how to get back to factory defaults. However, care should be taken because all non-saved custom settings will be lost as a result of the reset.

PATRIOT USER MANUAL


‘^Y’ – Initialize System

Description:

This command reinitializes the entire system to an advanced power up state. The user should allow sufficient time for the system to run through its self test and initialization (as signified by completion of LED flashing explained in step 8 of Getting Started) before attempting to send the system additional commands.

Syntax:

^Y<>

Remarks:

None.

Output Record:

None.

Examples:

If the user wanted to set the system configuration back to its original, factory default condition, the following commands should be sent: ^W0<>

^Y<> The system will now be in its original factory default condition. The Ctrl Y simulates turning the system power off, then back on again.

PATRIOT USER MANUAL


‘^Z’ – Read Operational Configuration

Description:

This command allows the user to view the operational configuration settings for the current, factory default and saved custom configurations.

Syntax:

^Z [slotnum]<>

Part Description

slotnum 0 = factory default configuration

1 - 3 = One of three User-definable operational configurations that are stored within PATRIOT.

Remarks:

If no slotnum is supplied, the current operational configuration will be returned.

Output Record:

The ASCII response to ‘^Z’ will be prepended by only the first 3 characters of the normal 5-byte ASCII header:

Table 2-48 ‘^Z’ ASCII Response Header Byte Index Format Description 0 A First Digit of Station Number (n/a) ‘0’ 1 A Second Digit of Station Number (n/a) ‘0’ 2 A ‘z’

The body of the response will be a variable length block of text in the format below. Data in italics will vary according to the configuration settings being reported. Table 2-49 describes the text block line-by-line.

The binary response frame is described by Table 2-50.

PATRIOT USER MANUAL


Table 2-49 ‘^Z’ ASCII Response Format Description 00z Configuration name<> 3-char ASCII Header Config ID string <> Binary: Yes|No<> Metric: Yes|No<> <> Frame Rate: 60Hz<> Fixed at 60 Hz for PATRIOT <> Verbosity Level: 1<> Echo Mode: On|Off<> <> RS-232 Baud Rate: baudrate<> See Table 2-28 on page 58. RS-232 Parity: parity<> See Table 2-29 on page 58. <> Position Filter Sensitivity: Sx.xxx<> Position Filter Low Value: Sx.xxx<> Position Filter High Value: Sx.xxx<> Position Transition Rate Maximum Value: Sx.xxx<> <> Attitude Filter Sensitivity: Sx.xxx<> Attitude Filter Low Value: Sx.xxx<> Attitude Filter High Value: Sx.xxx<> Attitude Transition Rate Maximum Value: Sx.xxx<> <> Mounting Frame Angle: 3(Sxxx.xxx)B<> Az El Roll <> Compensation: Off|On<> <> Buffering: Off|On<> <> The following text data will be repeated once for each station on PATRIOT: Format Description Station x<> Station number

Output List: (xB)..<> List of Output Data Items See Table 2-17 on page 46.

Hemisphere: 3(Sxx.xxxB)<> Az El Roll Boresight Reference Angles: 3(xxx.xxB)<> Az El Roll Stylus Function: Marker|Point/Track Mode<> Alignment Coordinates:<>

Origin Coordinates: 3(Sxxx.xxB)<> Ox Oy Oz Pos X-Axis: 3(Sxxx.xxB)<> Xx Xy Xz Pos Y-Axis: 3(Sxxx.xxB)<> Yx Yy Yz

PATRIOT USER MANUAL


Table 2-50 ‘^Z’ Binary Response Byte Index Format Description 0-7 Binary Header 8 A Config ID 24 I Bits Meaning

0-2 Baud rate (Table 2-32, on page 58) 3-4 Parity (Table 2-32, on page 58) 4-31 Reserved

28 I Bits Meaning 0 Continuous Mode (0=Off/1=On) 1 Binary Mode (0=ASCII/1=Binary) 2 Units Mode (0=Inches/1=CM)

3-4 Sync Mode (N/A for PATRIOT) 5-7 Reserved 8-9 Compensation (N/A for PATRIOT)

10-25 Station Bitmap (1=Active) 26 Echo Mode (0=Off/1=On) 27 Buffering Mode (0=Off/1=On)

28-31 Reserved 32 FL Attitude Filter: Sensitivity 36 FL Attitude Filter: FLow 40 FL Attitude Filter: FHigh 44 FL Attitude Filter: FACTOR 48 FL Position Filter: Sensitivity 52 FL Position Filter: FLow 56 FL Position Filter: FHigh 60 FL Position Filter: FACTOR 64 FL Source Mounting Frame: Az 68 FL Source Mounting Frame: El 72 FL Source Mounting Frame: Roll 76 I Frame Rate (2 = 60 Hz) The following 64 bytes will be repeated once for each station on PATRIOT: Byte Index Format Description 80 + (64 * (station-1)) FL Alignment Origin: X 84 + (64 * (station-1)) FL Alignment Origin: Y 88 + (64 * (station-1)) FL Alignment Origin: Z 92 + (64 * (station-1)) FL Alignment X-Axis: X 96 + (64 * (station-1)) FL Alignment X-Axis: Y 100 + (64 * (station-1)) FL Alignment X-Axis: Z 104 + (64 * (station-1)) FL Alignment Y-Axis: X 108 + (64 * (station-1)) FL Alignment Y-Axis: Y 112 + (64 * (station-1)) FL Alignment Y-Axis: Z 116 + (64 * (station-1)) FL Hemisphere: X 120 + (64 * (station-1)) FL Hemisphere: Y 124 + (64 * (station-1)) FL Hemisphere: Z 128 + (64 * (station-1)) FL Boresight: Az 132 + (64 * (station-1)) FL Boresight: El 136 + (64 * (station-1)) FL Boresight: Roll 140 + (64 * (station-1)) I Stylus Mode (0=Marker/1=PointTrack) The following 80 bytes will be repeated once for each station on PATRIOT: Byte Index Format Description 144 + (64 * (station count-1)) I[20] Output Data List (Table 2-17, page 46)

Examples:

PATRIOT USER MANUAL


To view the configuration settings for the current configuration issue the following command: ^Z<> To view the configuration settings for the factory default configuration issue the following command: ^Z0<>

PATRIOT USER MANUAL


3. Component Description

3.1. System Electronics Unit (SEU) The SEU is a stand-alone unit that may be located anywhere that is convenient to the work area, AC power and the host computer. It contains the required input and output connectors and controls to support up to two sensors, a single magnetic source, a USB port, and an RS-232 port. See Getting Started, Figure 1-1 on page 2 for a picture of the SEU. PATRIOT sources and sensors are compatible with, and identical to, LIBERTY sources and sensors.

3.1.1. Source Port

The single source port is a 15 pin plug “D” type connector located on the front of the SEU as shown in Figure 1-2 on page 2. The source should be connected to the SEU before the unit is powered on and disconnected after the unit is powered off. CAUTION: Do not disconnect or connect the source while the PATRIOT SEU is powered on. Be sure the source cable is routed separately from the sensor cables.

3.1.2. Source Frequency

The PATRIOT is shipped with a source designed to operate at a standard frequency. It is possible to operate multiple PATRIOT units in close proximity by using sources designed to operate at alternate frequencies. The source frequency is automatically detected, and no operator action is needed. Contact Polhemus Customer Service (see page F-1) for more information.

3.1.3. Sensor Ports

The sensor ports are 15 pin high density receptacle “D” type connectors located on the front of the SEU as shown in Figure 1-3 on page 3. The SEU can be configured to accept up to two sensors. The sensor(s) can be connected or disconnected from the SEU at any time. The sensors are automatically detected and will begin sending data about one second after being connected.

CAUTION: Route the sensor cables separately from the source cable, as there may be some cross-coupling between the sensor cables and the source cable.

3.1.4. LED Indicator

An LED “power on” indicator is located on the front of the SEU. Upon power up, the indicator will blink red for 5 to 10 seconds while the system performs its initialization and self-test routines. When these routines are completed, the indicator changes from blinking read to steady green, indicating that the system is ready for operation. If the LED continues to flash red after 10 seconds, the self-test has failed. Table 3-1 below summarizes the LED condition.

Table 3-1 LED conditions Steady green System operational – passed startup testing.

Flashing red Failed self-test and set-up.

PATRIOT USER MANUAL


A malfunctioning sensor or source can cause a poor quality signal that will trigger a solid red LED. This condition should be accompanied by a Built-In Test (BIT) error. See APPENDIX C. for a description of BIT errors.

If no sensors are plugged into the SEU and the initialization test passes, the LED will be a solid green.

3.1.5. RS-232 I/O

3.1.6. Serial Connector

The RS-232 I/O serial connector is a standard 9 pin plug “D” type connector located on the rear panel of the SEU as shown in Figure 1-7 on page 6. The pinout identification for this connector is as follows:

Table 3-2 RS-232 Pin Outs

Pin PATRIOT Host 1 Not used Not used 2 RxD TxD 3 TxD RxD 4 Not used Not used 5 GND GND 6 Not used Not used 7 Not used Not used 8 Not used Not used 9 Not used Not used

3.1.7. Hardware Switches

NOTE: UP switch position is a logic ‘1’ and DOWN is logic ‘0.’

The hardware switches located on the rear panel of the SEU to the left of the RS-232 serial port connector as depicted in Figure 1-7 on page 6. PATRIOT reads baud rate and parity RS-232 connection settings from these switches only on power up. If you change the switches to obtain a different setting, you must restart PATRIOT either by using the ‘^Y’ – Initialize System command (page 79) or by cycling the power.

Alternatively, the ‘^O’ – RS-232 Port Configuration command (page 58) may be used to configure the RS-232 connection during operation. However, after using this command and saving the new settings to the startup configuration (‘^W’ – Set Default Operational Configuration, page 78), the saved settings will be ignored during the next power up or system initialize (‘^Y’ – Initialize System) in deference to the hardware switch settings.

The hardware switches are numbered 1 to 5 from left to right. Switch setting definitions are provided in Table 3-3.

PATRIOT USER MANUAL


Table 3-3 Switch Settings

Baud Rate Switches Parity Switches 1 2 3 4 5 115,200 None 57600 Odd 38400 Even 19200 reserved 9600 4800 2400 reserved

3.1.8. Reset Button

If your unit has a reset button, it is located through a small hole in the front panel of the PATRIOT electronics unit. The reset button is a hard reset and may be used to restart the Electronic Unit. See Figure 3-1.

Figure 3-1 Reset Button

PATRIOT USER MANUAL


3.2. Magnetic Source The Source is the device which produces the electro-magnetic field and is normally the reference for the position and orientation measurements of the sensors. It is usually mounted in a fixed position to a non-metallic surface or stand, which is located in close proximity to the sensors. The standard source is the 2” cube and the specifications in this manual are based on the 2” source, shown in Figure 3-2. Other source sizes are available. Review the Polhemus web site at www.Polhemus.com or contact Polhemus Customer Service on page F-1 for more information.

Figure 3-2 Source Diagram

http://www.polhemus.com/

PATRIOT USER MANUAL


3.3. Sensor(s) The sensor is the smaller device whose position and orientation is measured relative to the Source. The sensor is dimensionally shown in Figure 3-3 including the position of the electrical center. The sensor package provides two mounting holes for #4 nylon screws (supplied) in the event that sensor mounting is required.

NOTE: Nylon hardware is only required when the hardware will be in direct contact with the source or sensor. A testing surface where the devices will be used (a table for example), could have small metal hardware like screws, nuts, and bolts, which probably would not affect the accuracy of the PATRIOT system.

Figure 3-3 Sensor RX2

Figure 3-4 Sensor RX1-C

PATRIOT USER MANUAL


3.4. Stylus The stylus is a pen-shaped device with a sensor coil assembly built inside and a push button switch mounted on the handle to effect data output. The position measurements are relative to the tip of the stylus, due to a precise factory calibration. The 8” stylus is shown in Figure 3-5 (7” L x 0.5” W x 0.75” H, 0.75 oz.), and Figure 3-6 shows the 3” stylus (3.5” L x 0.5” W x 0.75” H, 0.45 oz.); either stylus may be used in any of the sensor ports. The stylus functions as a sensor with the electrical center offset from the tip of the stylus via firmware. Single or Continuous output records may be obtained as a function of the integral switch. See ‘L’ – Stylus Button Function on page 42 and ‘N’ – Tip Offsets on page 44 for stylus configuration details.

Figure 3-5 8” Stylus

Figure 3-6 3” Stylus

PATRIOT USER MANUAL


3.5. Buddy Button The Buddy Button(see Figure 3-7) is an optional component to accompany the stylus. Some users may experience motion of the stylus tip while attempting to capture data, due to the position of the push button switch on the stylus. Users may find it difficult to hold the stylus tip in place while operating the switch. The Buddy Button allows the user to operate the switch separately with a free hand.

The Buddy Button and stylus connect to the SEU via an adaptor containing a 3.5mm phono jack and 15-contact female high density D-sub connector. Both of these converge to a 15-pin male high density D-sub connector that attaches to the sensor inputs on the SEU.

Figure 3-7 Buddy Button and Buddy Button Adaptor

PATRIOT USER MANUAL


4. SYSTEM OPERATION

4.1. I/O Considerations There are two possible communication options available on the PATRIOT system: USB or RS-232. Each option supports either Binary or ASCII formats.

Upon power up or system initialization, if the USB cable is not plugged into the SEU, the PATRIOT will automatically send data to the RS-232 interface. The USB cable can be plugged in at any time and the PATRIOT will shift to USB operation. If the USB is unplugged, the PATRIOT system’s power must be recycled to shift back to RS-232 operation.

4.2. Powering Up PATRIOT To power-up the PATRIOT system, first ensure that the power switch on the back panel of PATRIOT is in the OFF (DOWN) position and that the power supply is not plugged into the AC. Then connect the power cable from the power supply to the power connector on the rear panel of PATRIOT.

Plug in the source and the desired number of sensors.

Plug in the desired I/O cable (USB or RS-232).

Plug the power supply into the AC outlet and turn the Power Switch to the ON (UP) position.

On power up, the power indicator will blink red for 5 to 10 seconds to indicate the system’s performance of an initialization and self test routine. During this time, system operation is not possible. At the completion of this routine, the power indicator will change from a flashing red state to a steady green state. See LED Indicator on page 84 for a description of the LED status.

If PATRIOT is connected via RS-232, it will send a “PATRIOT Ready!” text message to the RS-232 port when initialization is complete.

4.3. Configuration Changes PATRIOT will start up with a default configuration unless otherwise set to a different start-up configuration. Up to three user-defined configuration settings can be stored in the PATRIOT system. Any one of these configurations can be set as the startup configuration. See ‘^K’ – Save Operational Configuration on page 73 and ‘^W’ – Set Default Operational Configuration on page 78 for instructions on how to set and store configurations.

4.4. Output Update Rate The data output update rate for the PATRIOT is 60 Hz.

PATRIOT USER MANUAL


4.5. Output Considerations Most applications of the PATRIOT system involve using its data output to manipulate some type of computer graphics in real time. In this condition, it is extremely important to allow the data to be utilized as quickly as possible and to avoid latency or lag. Lag is defined as the interval of time between requesting a PATRIOT data point and receiving it into the host computer. Factors that could increase this lag are:

Output Record Length

Data Format (Binary is more efficient than ASCII)

Filtering (data are produced at normal times but will show effects of filter lag)

Background software and applications running on the host computer.

USB Buffering Mode Enabled (see ‘@B’ – USB Buffering Mode on page 66).

The PATRIOT also contains an adaptive filter that is designed to control noise in the data output. The filter can be applied to Position or Orientation or both. It should be noted that the effect that is seen in the data may have (or appear to have) a slower dynamic response with medium or heavy filtering selected. Although data is transferred at normal time, the filtering gives it the appearance of lag. See ‘X’ – Position Filter Parameters on page 50 and ‘Y’ – Attitude Filter Parameters on page 53 for more information on setting the filters.

4.6. Useful Range An X, Y, or Z position value exceeding PATRIOT’s useful range of 60 inches (152 cm) will be output as zero.

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Appendices

APPENDIX A. Alignment Reference Frame

Legend

X, Y, Z = Alignment (Reference) Frame x, y, z = Rotated Stylus or Sensor Coordinate Frame

= Azimuth = Elevation = Roll

Figure 4-1 Alignment Reference Frame

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APPENDIX B. System Output Data Records

ASCII FORMAT

INITIATING COMMANDS .... P or C (continuous mode)

Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A Initiating Command 3 A Error Indicator 4 B ASCII Blank character 5-x Variable See Possible Formats below (x+1)-(x+2) AA Carriage Return/Line Feed

Original Precision:

?* .. x,y,z position Cartesian Coordinates 3(Sxxx.xxx) ?* .. az,el,roll Euler orientation angles 3(Sxxx.xxx) ?* .. direction cosines of the sensor’s x,y,z axis 3(Sx.xxxxx) ?* .. Orientation Quaternion (Q0-Q3) 4(Sx.xxxxx) ?* .. Stylus Switch x where: x = 0 or 1

Extended precision:

?* .. x,y,z position Cartesian coordinates 3(Sx.xxxxxESxxb) ?* .. az,el,roll Euler orientation angles 3(Sx.xxxxxESxxb)

?* The system data record contents are specified by the user using the ‘O’ command and may vary from configuration to configuration. Therefore, the specific location of a data item in the output record is not determined until the record contents are defined.

NOTE: Original precision is retained for compatibility with previous Polhemus 3SPACE systems. Also, note that some item values are repeated as extended precision items, although no output difference is made (i.e., space, <cr lf>). Original and extended precision may be freely mixed in an output record, but it is recommended that extended precision be used if compatibility is not required, as the original precision may be deleted in future systems.

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BINARY FORMAT

INITIATING COMMANDS ..... P or C (continuous mode)

Byte # Type Description 0,1 US Frame Tag, always ‘PA’ or 0x5041 for PATRIOT HST 2 UC Station Number 3 UC Initiating command 4 UC Error Indicator 5 UC Reserved 6,7 SH Response size – number of bytes in the response body. 8 - n Binary Response body

?* ..... x,y,z position Cartesian coordinates FL[3] ?* ..... az,el,roll Euler orientation angles FL[3] ?* ..... direction cosines of the sensor’s x,y,z axes. FL[3]

?* The system data record contents are specified by the user using the ‘O’ command and may vary from configuration to configuration. Therefore, the specific location of a data item in the output record is not determined until the record contents are defined.

The notation FL[3] refers to the ANSI/IEEE Standard for Binary Floating-Point Arithmetic 754-1985 format of data. This is defined in the standard as:

MSB LSB

Bit 31 Bit 30-23 Bit 22-0

Sign Exponent Fraction

Byte 3 Byte 2 Byte 1 Byte 0

The IEEE floating-point format uses sign magnitude notation for the mantissa, and an exponent offset by 127. In a 32-bit word representing a floating-point number, the first bit is the sign bit. The next 8 bits are the exponent, offset by 127 (i.e., the actual exponent is e - 127). The last 23 bits are the absolute value of the mantissa with the most significant 1 implied. The decimal point is after the implied 1, or in other words, the mantissa is actually expressed in 24 bits. In the normal case an IEEE value is expressed as:

(-1)S * (2**(e-127)) * (01.f) If 0 < e < 255

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APPENDIX C. Built In Test (BIT)

Initialization Results

Upon startup and initialization, PATRIOT automatically performs a series of Built-In Tests. PATRIOT initialization Built-In Test (BIT) results are read using the ‘^T’ – Read/Clear BIT Errors command on page 74. This command returns initialization BIT results in a series of three bitmapped 32-bit words. When any initialization BIT errors have been detected, the P&O output frame header contains an ‘I’ (or ‘A’–’G’ if runtime errors also exist) in the header’s error field. See Table 4-5 for more about BIT-related error codes.

The initialization BIT results words contain sub-bitmaps that represent Source, Global Sensor (GS), and individual Sensor Channel BIT results. A SET bit (1) position indicates that a BIT error occurred. If no errors were detected, each bit in all nine or eighteen words will be CLEARED (0). The words and their content are depicted in Table 4-1 below. Shaded areas represent reserved bit fields.

Table 4-1 BIT Results DWORDs BITMAP

Word 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

0 Source GS 1 Sensor Channel 1 2 Sensor Channel 2

Source BIT Results The sub-bitmap representing source BIT results is defined in Table 4-2 below.

Table 4-2 Source BIT Results Bit Definition 0 Magnitude X Error 1 Magnitude Y Error 2 Magnitude Z Error 3 Noise X Error 4 Noise Y Error 5 Noise Z Error 6 Source PROM Read Error 7 Reserved 8 Reserved

PATRIOT USER MANUAL


Global Sensor (GS) BIT Results The sub-bitmap representing global sensor BIT results is defined in Table 4-3 below.

Table 4-3 Global Sensor BIT Results

Bit Definition 0 Sensor Errors 1 Sensor 1 PROM Read Error 2 Sensor 2 PROM Read Error 3 Reserved 4 Reserved 5 Reserved 6 Reserved

Sensor Channel BIT Results If Bit 0 of the global sensor BIT result map is SET, then sensor channel BIT results should be parsed to determine BIT errors for individual sensor channels. If a failed sensor channel is not in use, the initialization BIT errors can be cleared using the ‘^T’ – Read/Clear BIT Errors command on page 74. Table 4-4 below defines sensor channel BIT results.

Table 4-4 Sensor Channel BIT Results Bit Definition 0 Gain 0 1 Gain 1 2 Gain 2 3 Noise 0 4 Noise 1 5 Noise 2

6-30 Reserved

Runtime Results

There are only 3 runtime BIT errors defined. These are:

Source Failure X

Source Failure Y

Source Failure Z

Runtime errors are indicated in the error field of the output P&O frame header. An error code of ‘a’–’g’ or ‘A’–’G’ will indicate a combination of runtime and initialization BIT errors as indicated in Table 4-5 below. Note that upper case error codes indicate that uncleared initialization errors also exist. Lower case errors indicate that only runtime errors are present.

NOTE: Because they are updated on a frame-by-frame basis, runtime errors cannot be cleared with the ‘^T’ – Read/Clear BIT Errors command on page 74.

PATRIOT USER MANUAL


Table 4-5 Runtime BIT Error Codes Error Code Source

Failure X

Source Failure

Y

Source Failure

Z

Initialization BIT Errors Occurred ASCII HEX

‘a’ ‘A’ ‘b’ ‘B’ ‘c’ ‘C’ ‘d’ ‘D’ ‘e’ ‘E’ ‘f’ ‘F’ ‘g’ ‘G’ ‘I’

PATRIOT USER MANUAL

REV. J D-1 NOVEMBER 2013

APPENDIX D. Limited Warranty and Limitation of Liability Polhemus warrants that the Product shall be free from defects in material and workmanship for a period of two years from the date of Polhemus’s delivery to the Buyer, or two years and 30 days from the date ownership of Product passed to the Buyer, whichever occurs first, with the exception of FastSCAN, which has a warranty period of only one year. Batteries have a 90 day warranty period. Polhemus shall, upon notification within the warranty period, correct such defects by repair or replacement with a like serviceable item at Polhemus's option. This warranty shall be considered void if the Product is operated other than in accordance with the instructions in Polhemus's User Manual or is damaged by accident or mishandling. Parts or material which are disposable or expendable or subject to normal wear beyond usefulness within the warranty period such as lamps, fuses, etc., are not covered by this warranty.

In the event any Product or portion thereof is defective, Buyer shall promptly, and within the warranty period, notify Polhemus in writing of the nature of the defect and return the defective parts to Polhemus at the direction of Polhemus’s Customer Service representative. Upon determination by Polhemus that the parts or Products are defective and covered by the warranty set forth above, Polhemus, at its option shall repair or replace the same without cost to Buyer. Buyer shall be responsible for any import/export duties/tariffs and pay all charges for transportation and delivery costs to Polhemus's factory for defective parts where directed to be sent to Polhemus, and Polhemus shall pay for transportation costs to Buyer's facility only for warranty replacement parts and Products. Removed parts covered by claims under this warranty shall become the property of Polhemus.

In the event that allegedly defective parts are found not to be defective, or not covered by warranty, Buyer agrees that Polhemus may invoice Buyer for all reasonable expenses incurred in inspecting, testing, repairing and returning the Products and that Buyer will pay such costs on being invoiced therefor. Buyer shall bear the risk of loss or damage during transit in all cases.

Any repaired or replaced part or Product shall be warranted for the remaining period of the original warranty or thirty (30) days, whichever is longer.

Warranties shall not apply to any Products which have been:

repaired or altered other than by Polhemus, except when so authorized in writing by Polhemus; or

used in an unauthorized or improper manner, or without following normal operating procedures; or

improperly maintained and where such activities in Polhemus's sole judgment, have adversely affected the Products. Neither shall warranties apply in the case of damage through accidents or acts of nature such as flood, earthquake, lightning, tornado, typhoon, power surge(s) or failure(s), environmental extremes or other external causes. Warranties shall not apply to any Products if the Products are defective because of normal wear and tear; or

used for any purpose without obtaining any applicable regulatory approvals.

PATRIOT USER MANUAL

REV. J D-2 NOVEMBER 2013

POLHEMUS DOES NOT WARRANT AND SPECIFICALLY DISCLAIMS THE WARRANTY OF MERCHANTABILITY OF THE PRODUCTS OR THE WARRANTY OF FITNESS OF THE PRODUCTS FOR ANY PARTICULAR PURPOSE. POLHEMUS MAKES NO WARRANTIES, EXPRESS OR IMPLIED, EXCEPT OF TITLE AND AGAINST PATENT INFRINGEMENT, OTHER THAN THOSE SPECIFICALLY SET FORTH HEREIN.

IN NO EVENT SHALL POLHEMUS BE LIABLE UNDER ANY CIRCUMSTANCES FOR SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES, INCLUDING, BUT NOT LIMITED TO LOSS OF PROFITS OR REVENUE. WITHOUT LIMITING THE FOREGOING POLHEMUS'S MAXIMUM LIABILITY FOR DAMAGES FOR ANY CAUSE WHATSOEVER, EXCLUSIVE OF CLAIMS FOR PATENT INFRINGEMENT AND REGARDLESS OF THE FORM OF THE ACTION (INCLUDING BUT NOT LIMITED TO CONTRACT NEGLIGENCE OR STRICT LIABILITY) SHALL BE LIMITED TO BUYER'S ACTUAL DIRECT DAMAGES, NOT TO EXCEED THE PRICE OF THE GOODS UPON WHICH SUCH LIABILITY IS BASED.

The Products are not certified for medical or bio-medical use. Any references to medical or bio-medical use are examples of what medical companies have done with the Products after obtaining all necessary or appropriate medical certifications. The end user/OEM/VAR must comply with all pertinent FDA/CE and all other regulatory requirements.

REV. J E-1 NOVEMBER 2013

APPENDIX E. Specifications Update Rate

60 Hz. per sensor, simultaneous samples Latency

Less than 18.5 milliseconds Number of Sensors

1 or 2 I/O Ports

USB; RS232 to 115,200 Baud, both standard Static Accuracy

0.06 in. RMS for X, Y or Z position; 0.40° RMS for sensor orientation Resolution

0.00046 in. (0.012 mm) at 12 in. (30 cm) range; 0.0038° orientation Range

36 in. (90 cm) at above specifications; useful operation up to 60 in. (152 cm) Multiple Systems

Provision available to operate two separate systems in same environment Angular Coverage

All-attitude Data Format

Operator selectable ASCII or IEEE 754 binary; English/Metric Units Physical Characteristics

SEU: 6.75 in. (17.1 cm) L x 6.25 in. (15.9 cm) W x 1.75 in. (4.5 cm) H; weight 0.85 lbs. (0.4 kg) Field Source: 2.3 in. (5.8 cm) L x 2.2 in. (5.6 cm) W x 2.2 in. (5.6 cm) H; weight 8.8 oz. (250 gms) Sensor: 0.9 in. (22.9 mm) L x 1.1 in. (27.9 mm) W x 0.6 in. (15.2 mm) H; weight 0.8 oz. (23 gms)

Power Module 3.5 in. (8.9 cm) L x 2.4 in. (6.1 cm) W x 1.4 in. (3.6 cm) H; weight 6 oz. (160 gms)

Power Requirements 100-240VAC, 50/60 Hz. Nominal (85-264 VAC, 47 – 63 Hz. max rating), single phase 10 W

REV. J F-1 NOVEMBER 2013

APPENDIX F. Customer Service If problems are encountered with the PATRIOT system or if you are having difficulty understanding how the commands work, help is just a telephone call away.

Call Polhemus at the numbers listed below and follow the prompts (select “2” for Customer Service and then “1” for Technical Support). Polhemus is open Monday through Friday, 8:00 AM to 5:00 PM, Eastern Standard Time. For the most part, our customer service representatives are usually able to solve problems over the telephone and get you back into the fast lane right away.

Help is also available on our web page at www.polhemus.com. Simply double-click Technical Support, then click [email protected] to send us an email describing the problem or question.

If a problem requires repair of your system, the customer service representative will issue a Return Merchandise Authorization (RMA) number and you may then return the system to the factory. Do not return any equipment without first obtaining an RMA number. Please retain and use the original shipping container, if possible, to avoid transportation damages (for which you or your shipper would be liable). If your system is still under warranty, Polhemus will repair it free of charge according to the provisions of the warranty as stated in Appendix D of this document. The proper return address is:

Polhemus 40 Hercules Drive

Colchester, VT 05446 Attention RMA #_______

From within the U.S. and Canada: (800) 357-4777

From outside the U.S. or Canada: (802) 655-3159

Fax #:(802) 655-1439

http://www.polhemus.com/

mailto:[email protected]

REV. J NOVEMBER 2013

INDEX ^ ("Ctrl" key) ........................................................... 21 <> ("Enter" key) ...................................................... 21 6 Degree-Of-Freedom .............................................. 12 6DOF ....................................................................... 12 active station state .................................................... 61 adaptive filter ........................................................... 13 address for Polhemus ............................................. F-1 alignment ....................................... 14, 30, 31, 60, A-1 alignment frame (reset) ............................................ 60 alignment procedure ................................................ 31 alignment reference frame .............................. 30, A-1 angular coverage .................................................... E-1 API ..................................................................... 14, 22 ASCII ......................................................... 14, 24, B-1 attitude filter parameters .......................................... 53 attitude matrix .......................................................... 14 azimuth .................................................................... 14 baud rate ............................................................ 15, 58 benign environment ................................................. 15 binary ....................................................................... 15 Binary ...................................................................... 25 BIT ........................................................................... 15

global sensor results .......................................... C-2 sensor channel results ........................................ C-2 source results ..................................................... C-1

BIT (Built In Test) ................................................. C-1 BIT errors ................................................................ 74 boresight ............................................................ 15, 33 bps ........................................................................... 15 Buffering Mode (USB) ............................................ 66 Built In Test (BIT) ................................................. C-1 centimeters ............................................................... 48 CH ........................................................................... 25 command reference .................................................. 29 command set summary ............................................ 27 Command syntax ..................................................... 23 component description ............................................. 84 configuration ............................................................ 91 configuration changes .............................................. 91 configuration commands ......................................... 29 contacting Polhemus .............................................. F-1 continuous print output ............................................ 69 counters.................................................................... 72 Ctrl ........................................................................... 21 customer service .................................................... F-1 data experiments ...................................................... 11 data format ............................................................. E-1 data record ............................................................. B-1 DB ........................................................................... 13 default operational configuration ............................. 78 Digitizer ................................................................... 12 direction cosines ...................................................... 16 DW .......................................................................... 25 echo mode ................................................................ 57

EEPROM ................................................................. 78 elevation .................................................................. 16 Enter ........................................................................ 21 error code summary ................................................. 28 experiment with data ............................................... 11 F (filter parameter scalar value) ......................... 50, 53 Factor ................................................................. 51, 54 factory defaults ........................................................ 16 FHigh ................................................................. 51, 54 field source ............................................................ E-1 filter parameters (attitude) ....................................... 53 filter parameters (position) ...................................... 50 firmware .................................................................. 16 FL ............................................................................ 25 FLow ................................................................. 50, 53 format ...................................................................... 16 global sensor (GS) BIT results .............................. C-2 hardware switches.................................................... 85 hemisphere ......................................................... 16, 39 hemisphere of operation .......................................... 39 host .......................................................................... 17 I 25 I/O ............................................................................ 91 I/O considerations .................................................... 91 I/O latency ............................................................... 17 I/O ports ................................................................. E-1 ID (operational configuration) ................................. 64 inches ....................................................................... 48 initialization results................................................ C-1 initialize system ....................................................... 79 lag ............................................................................ 17 latency ............................................................. 17, E-1 least significant bit. (LSB) ....................................... 17 least significant digit (LSD)..................................... 17 LED indicator .......................................................... 84 liability .................................................................. D-1 LIBERTY ................................................................ 17 limited warranty/limitation of liability ................. D-1 Line of Sight (LOS) ................................................. 17 List of Tables .......................................................... vii LOS (line of sight) ............................................. 17, 39 LSB (least significant bit) ........................................ 17 LSD (least significant digit)..................................... 17 Magnetic Source ...................................................... 87 metric ....................................................................... 48 most significant bit (MSB) ...................................... 17 motion box ............................................................... 18 mounting frame ....................................................... 37 MSB (most significant bit) ...................................... 17 multiple systems .................................................... E-1 non-continuous output mode ................................... 70 Notation ................................................................... 23

ASCII .................................................................. 24 Binary .................................................................. 25

REV. J NOVEMBER 2013

null modem ............................................................... 5 offsets ...................................................................... 44 operational commands ............................................. 68 operational configuration ............................. 73, 78, 80 operational configuration ID .................................... 64 orientation angles ..................................................... 18 output ......................................................... 70, 91, B-1 Output ...................................................................... 92 Output Considerations ............................................. 92 output data list ......................................................... 46 output format ........................................................... 35 output list ................................................................. 19 output rate ................................................................ 91 P&O (position and orientation) ................................. 19 parity ........................................................................ 58 PATRIOT ................................................................ 19 PATRIOT System Commands ................................ 22 physical characteristics .......................................... E-1 pitch ......................................................................... 19 Polhemus contact information ............................... F-1 position filter parameters ......................................... 50 power module ........................................................ E-1 power requirements ............................................... E-1 Powering Up ............................................................ 91 print output (continuous) ......................................... 69 PROM ...................................................................... 44 quaternion ................................................................ 19 range ...................................................................... E-1 read operational configuration ................................. 80 read/clear BIT errors ................................................ 74 record output ............................................................ 70 reset alignment frame .............................................. 60 reset counters ........................................................... 72 resolution ............................................................... E-1 response ................................................................... 20 Response Format ..................................................... 24 return merchandise authorization (RMA) .............. F-1 RMA (return merchandise authorization) .............. F-1 roll ............................................................................ 20 rotation ..................................................................... 37 RS-232 ..................................... 4, 5, 11, 27, 58, 85, 86 RS-232 Port Configuration ...................................... 58 runtime results ....................................................... C-2 Safety Notices .......................................................... iii save operational configuration ................................. 73 SDK ......................................................................... 20 sensor ......................................................... 20, 88, E-1 sensor (number of) ................................................. E-1 sensor channel BIT results ..................................... C-2 sensor ports .............................................................. 84 serial connector ........................................................ 85

set default operational configuration ....................... 78 set echo mode .......................................................... 57 set units .................................................................... 48 SEU (system electronics unit) ......................... 84, E-1 SH ............................................................................ 25 shipping address .................................................... F-1 single data record output .......................................... 70 source ....................................................................... 20 Source ...................................................................... 87 source BIT results .................................................. C-1 source frequency ...................................................... 84 source mounting frame ............................................ 37 source port ............................................................... 84 Specifications ........................................................ E-1 standard alignment procedure .................................. 31 static accuracy ....................................................... E-1 station ................................................................ 20, 61 station state .............................................................. 61 stylus ...................................................... 20, 42, 89, 90 stylus button function .............................................. 42 stylus tip................................................................... 44 stylus tip offsets ....................................................... 44 summary of command set ........................................ 27 summary of error codes ........................................... 28 sync .......................................................................... 20 Syntax ...................................................................... 23 system electronics unit (SEU) ................................. 84 system operation ...................................................... 91 system output data record ...................................... B-1 table of figures ..........................................................vi technical support .................................................... F-1 tip offsets ................................................................. 44 UC ........................................................................... 25 un-boresight ............................................................. 56 units ......................................................................... 20 update rate ........................................................ 20, E-1 US ............................................................................ 25 USB ............................................................. 2, 4, 8, 17 USB Buffering Mode ............................................... 66 useful range .............................................................. 21 user command set summary..................................... 27 user defaults ............................................................. 21 warnings .................................................................. iii warranty ................................................................ D-1 web address ............................................................. 87 WhoAmI .................................................................. 76 Wildcard .................................................................. 24 XYZ or X, Y, Z ....................................................... 21 XYZAER ................................................................. 21 yaw........................................................................... 21

TAP Cmd IF Spec - Polhemus · Congratulations on buying the latest, most cost-effective 3D tracking...

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